Paul Riseborough
a25aa8d2ac
AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon
2023-04-04 09:22:23 +10:00
bugobliterator
deeeb4134c
AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask
2023-03-21 10:04:16 +11:00
Peter Barker
2af6a05fa2
AP_NavEKF3: include writeWheelOdom symbol even if no body-odom
...
like the method above it, we need this symbol or we won't compile
2023-02-11 10:36:33 +11:00
Peter Barker
35a5a73f52
AP_NavEKF3: avoid using struct Location
...
clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
2023-02-04 22:51:54 +11:00
Iampete1
16b1bd8b9a
AP_NavEKF3: pre-arm return failure message for correct core
2023-01-31 13:36:56 +11:00
Peter Barker
8a312d4f34
AP_NavEKF3: use classes to fix MATH_CHECK_INDEXES
2023-01-25 19:58:54 +11:00
Peter Barker
7f4c5a9a84
AP_NavEKF3: tidy variable declarations
2023-01-25 19:58:54 +11:00
Peter Barker
da95985dd7
AP_NavEKF3: remove mag_state state
...
we don't need to persist this across multiple calls as we now fuse all axes on the one step.
I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
2023-01-25 19:58:54 +11:00
Peter Barker
063a041d22
AP_NavEKF3: add trailing comma to AidingMode enum, reindent same
2023-01-25 19:50:34 +11:00
Peter Barker
b716793a0e
AP_NavEKF3: remove duplicated lines in parameter metadata
2022-12-28 13:21:18 +11:00
Andrew Tridgell
8bf8d4889a
AP_NavEKF3: added get_enable()
2022-12-20 10:34:22 +11:00
Tatsuya Yamaguchi
366a325fc0
AP_NavEKF3: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1
2022-12-20 10:05:24 +11:00
Andy Piper
e4b8d8a9b6
AP_NavEKF3: ensure wind estimation from airspeed can be used on its own
2022-12-14 19:19:58 +11:00
Stephen Dade
abcacec25f
AP_NavEKF3: Add support for fixed height optical flow
2022-12-01 08:03:47 +09:00
Paul Riseborough
33349ed92a
AP_NavEKF3: Prevent on ground range to ground being used in flight
2022-11-22 11:23:44 +11:00
Paul Riseborough
2228937536
AP_NavEKF3: Don't allow range finder use to start if terrain state is stale
2022-11-22 11:23:44 +11:00
Peter Barker
5cb6906968
AP_NavEKF3: add and use AP_BEACON_ENABLED
2022-11-16 08:16:31 +11:00
Peter Barker
806b2708c1
AP_NavEKF3: change namespace of MultiCopter and FixedWing params
...
this stops the libraries knowing anything about AP_Vehicle
2022-11-09 19:04:37 +11:00
Andrew Tridgell
92f25150f6
AP_NavEKF3: fixed getLLH alt for local origin height
...
this fixes a bug introduced in #21834
this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH
this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry
fixes #21984
2022-10-23 11:23:48 +11:00
jackhong12
4a4f361a17
all: use CLASS_NO_COPY() macro
2022-10-04 11:23:04 +11:00
Andrew Tridgell
17d9018a91
AP_NavEKF3: fixed EKF3 origin alt inconsistency
...
always use common origin, and adjust output posD for difference
between public and local lane origin heights
2022-09-30 07:44:42 +10:00
Paul Riseborough
481bec5ff5
AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed
2022-09-26 14:17:53 +10:00
Paul Riseborough
399f30bfce
AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor
2022-09-26 14:17:53 +10:00
Paul Riseborough
eb0e9230a1
AP_NavEKF3: Add accessor function for airspeed health monitoring
2022-09-26 14:17:53 +10:00
Paul Riseborough
608b4c0713
AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors
...
Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
2022-09-26 14:17:53 +10:00
Peter Barker
0665f9c32b
AP_NavEKF3: store and use lastKnownPositionD
...
When returning our last-known-position we were supplying lat/lng but not
altitude.
This usually really doesn't matter as this result generally isn't used,
especially for altitude. OTOH, it may prevent a bug into the future.
2022-08-22 19:48:03 +10:00
nrt
0c65cd1b47
AP_NavEKF3: added a getter function to infer the source index used by ekf3
2022-08-18 02:05:27 -04:00
Peter Barker
1b13dd053b
AP_NavEKF3: use send_mesage for sending status report
2022-08-16 09:45:51 +10:00
Peter Barker
0443c8561b
AP_NavEKF3: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
Tamas Nepusz
8959d35b91
AP_NavEKF3: add EK3_GPS_VACC_MAX as a threshold that decides whether to use GPS as altitude source depending on vAcc
2022-08-03 17:57:05 +10:00
Henry Wurzburg
b7f49db1f7
AP_NavEKF3: Add streaming log verbosity level parameter
2022-08-02 10:21:39 +10:00
Iampete1
cf14e741ee
AP_NavEKF3: only include log struture if enabled
2022-07-13 18:14:12 +10:00
Andrew Tridgell
e2a83ba428
AP_NavEKF3: fixed undefined behaviour in logging
2022-07-12 11:00:08 +10:00
Pierre Kancir
21890000f7
AP_NavEKF3: fix python files exec permissions
2022-06-08 08:16:42 +09:00
Andrew Tridgell
d5670ace3b
AP_NavEKF3: fixed use of configured() vs configured_in_storage()
2022-06-06 13:11:50 +10:00
Andrew Tridgell
74c4f3c9a9
AP_NavEKF3: log set source events
2022-05-31 09:17:37 +10:00
Randy Mackay
eafb118b47
AP_NavEKF3: set filter status dead_reckoning bit
2022-05-25 20:05:21 +09:00
Randy Mackay
e37bf9ad53
AP_NavEKF3: drag fusion for att and velAiding
...
also add dragTimeout
2022-05-25 20:05:21 +09:00
Randy Mackay
61c4643aed
AP_NavEKF3: minor comment fix
2022-05-25 20:05:21 +09:00
Ruffalo-sunghwan
5a4d61e3a4
AP_NavEKF3 : correct comment spelling
2022-05-24 20:27:45 +09:00
Randy Mackay
e0023a99bc
AP_NavEKF3: replace AP_HAL::millis() with dal.millis()
2022-05-18 17:59:57 +10:00
Randy Mackay
37e9ce3fb7
AP_NavEKF3: correct wind estimate param descriptions
...
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
2022-04-13 07:57:35 +09:00
Peter Barker
0b16c4063e
AP_NavEKF3: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
2022-04-08 19:18:38 +10:00
Peter Barker
adf9c21d48
AP_NavEKF3: remove instance id from EK3 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
2022-04-06 17:36:05 +10:00
Peter Barker
df4911cbcb
AP_NavEKF3: avoid direct use of Location alt field
2022-03-22 10:33:37 +11:00
Andrew Tridgell
a4da65ea05
AP_NavEKF3: fixed constrain indexing bug
...
fixes #20180
thanks to @liyue75 for spotting this!
2022-03-01 17:06:44 +09:00
Henry Wurzburg
0f05cb06fa
AP_NavEKF3: update and correct GSF parameter documentation
2022-02-15 10:56:35 +11:00
Randy Mackay
0c7ad9511f
AP_NavEKF3: FuseOptFlow only calculates range and velocity once
...
was unnecessarily recalculating these values before fusion
2022-02-09 08:42:29 +09:00
Andrew Tridgell
9dcff1a23f
AP_NavEKF3: set rejecting_airspeed flag
...
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
2022-02-07 14:13:49 +11:00
Randy Mackay
cfcdc1e78f
AP_NavEKF3: optflow terrain reset after 5sec
2022-02-02 18:04:43 +11:00