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156 Commits

Author SHA1 Message Date
priseborough
c96bc54254 AP_NavEKF3: correctly use wheel odometry speed for pitched rovers 2017-10-31 08:11:05 +09:00
priseborough
ee6b43aabf AP_NavEKF3: Fix bugs in use of wheel encoder data 
Found by pavloblindnology
 2017-10-28 10:58:01 +09:00
Lucas De Marchi
bd6145af6d AP_NavEKF3: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker
63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough
2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
Michael du Breuil
efe70c8d3a AP_NavEKF3: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
priseborough
db7c8439c6 AP_NavEKF3: Fix bug in wheel odometry timestamp correction 2017-07-28 12:48:38 +09:00
priseborough
c7f6d52065 AP_NavEKF3: Add wheel encoder odometry 
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
 2017-07-27 16:52:27 +09:00
priseborough
cbe8f97489 AP_NavEKF3: rename struct used for velocity odometry observations 
Do this so we can add other odometry observation types.
 2017-07-27 16:52:26 +09:00
priseborough
08a3f55c90 AP_NavEKF3: Fix error in scaling of observation error 2017-07-27 16:52:25 +09:00
priseborough
593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error 
Also adjust default values based on replay analysis.
 2017-07-27 16:52:25 +09:00
priseborough
58d58b4eac AP_NavEKF3: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough
0827b13feb AP_NavEKF3: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
Peter Barker
93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Randy Mackay
d64b2fcbf0 AP_NavEKF3: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough
9d0fa09d39 AP_NavEKF3: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
priseborough
a4d18696a7 AP_NavEKF3: Improve variable names and documentation 
Also remove unnecessary calculation of innov * gain
 2017-06-23 00:43:58 +01:00
priseborough
368983ed5a AP_NavEKF3: Clean up aiding mode logic using switch statements 2017-06-23 00:43:58 +01:00
priseborough
2a9eceaf10 AP_NavEKF3: Fix bugs causing height drift when using range beacons 2017-06-23 00:43:58 +01:00
priseborough
7659e9c31f AP_NavEKF3: Improve checking of time delay validity when setting buffers 
This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
 2017-06-21 11:44:45 +01:00
priseborough
7d63286088 AP_NavEKF3: update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough
06d40a7901 AP_NavEKF3: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough
284fc0f3c5 AP_NavEKF3: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Andrew Tridgell
a1508b58c1 AP_NavEKF3: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
priseborough
edee8396ba AP_NavEKF3: Improve in-flight check for non fly forward vehicles 
This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
 2017-06-19 06:09:07 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
6a01c65197 AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC) 2017-06-16 12:05:20 +01:00
priseborough
49ec2b4032 AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK 
Turn off by default.
Update parameter description.
 2017-06-14 12:44:41 +01:00
priseborough
6d14cf0ab8 AP_NavEKF3: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough
3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough
e58ba8044d AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances 
If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
 2017-06-14 12:44:41 +01:00
priseborough
bf963f8b65 AP_NavEKF3: Raise lower limit on del vel bias state variances 
This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
 2017-06-14 12:44:41 +01:00
priseborough
628d140319 AP_NavEKF3: Make target covariance time step larger 
The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
 2017-06-14 12:44:41 +01:00
priseborough
2b97d0f5c9 AP_NavEKF3: Add public accessor for state variances 2017-06-14 12:44:41 +01:00
priseborough
9f97cbfc3b AP_NavEKF3: Revert auto-code to original form and remove micro optimisations 
To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.

Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
 2017-06-14 12:44:41 +01:00
priseborough
f38fccd57c AP_NavEKF3: Prevent possible race condition re-zeroing state variances 2017-06-14 12:44:41 +01:00
priseborough
7adaea6019 AP_NavEKF3: Improve partitioning and efficiency of the covariance prediction 
This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
 2017-06-14 12:44:41 +01:00
priseborough
a1c117360c AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states 
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
 2017-06-14 12:44:41 +01:00
priseborough
5058405f8c AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation 
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
 2017-06-14 12:44:41 +01:00
priseborough
0cba133a1e AP_NavEKF3: Fix initialisation of state inhibit flags 2017-06-14 12:44:41 +01:00
priseborough
9da3caca47 AP_NavEKF3: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
c1eb9fb9c3 AP_NavEKF3: Spell in comments 2017-05-18 09:29:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
d3a57b5965 AP_NavEKF3: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
9cb068d3f4 AP_NavEKF3: Spell in coments 2017-05-16 20:29:16 +09:00
murata
46cba2c970 libraries: Delete the setting value for specific editor. 2017-05-11 13:18:41 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas
23b7f1e645 AP_NavEKF3: Improve comments, typos 2017-05-03 08:45:01 +09:00
priseborough
4a898037e9 AP_NavEKF3: documentation update 2017-05-01 14:24:55 +10:00
Andrew Tridgell
a04aff7a7d AP_NavEKF3: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
priseborough
0bf50fd56f AP_NavEKF3: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough
3ce81967ae AP_NavEKF3: Improve calculation and use of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough
7abf9997e6 AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF 2017-04-29 11:03:44 +10:00
priseborough
1301b9797a AP_NavEKF3: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
Andrew Tridgell
adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
priseborough
f208986d43 AP_NavEKF3: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell
18b66f9eed AP_NavEKF3: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Randy Mackay
b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough
fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell
248773a7c8 AP_NavEKF3: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough
8250fe4943 AP_NavEKF3: fix documentation derivation references 2017-04-10 15:47:35 +09:00
priseborough
06c073e448 AP_NavEKF3: Update tilt alignment check 2017-04-05 20:16:16 +10:00
Jonathan Challinger
c7a73e84d6 AP_NavEKF3: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
priseborough
56a9e2c462 AP_NavEKF3: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough
18927395d7 AP_NavEKF3: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough
01551a4423 AP_NavEKF3: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
Randy Mackay
3e039a6ba4 AP_NavEKF3: minor formatting fixes 
No functional change
 2017-03-06 18:40:18 +11:00
Randy Mackay
a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
priseborough
7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Randy Mackay
3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
Michael du Breuil
1de198883d AP_NavEKF3: Check gps vertical accuracy for aligning the GPS 2017-02-22 11:53:42 -08:00
Jacob Walser
ac1e1b9460 AP_NavEKF3: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
Francisco Ferreira
23f959b92f
AP_NavEKF3: fix copied parameter descriptions 2017-02-15 19:20:04 +00:00
priseborough
de7a679534 AP_NavEKF3: Enable simple heading fusion to be set for specific cores 2017-02-15 19:09:45 +00:00
priseborough
ccb952ba31 AP_NavEKF3: Use the same mag fusion method for all cores 
The original reason for using a different method for the second core is no longer valid.
 2017-02-15 19:01:10 +00:00
priseborough
e399f57ffa AP_NavEKF3: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough
784fa6fed8 AP_NavEKF3: fix compiler error 2017-01-27 16:57:42 +09:00
priseborough
2c36da2b21 AP_NavEKF3: relocate perf monitor to count all three mag components 2017-01-27 16:57:42 +09:00
priseborough
4d958952f6 AP_NavEKF3: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
priseborough
b5ba1d0346 AP_NavEKF3: protect against large delay values returned by the GPS library 2017-01-27 16:57:42 +09:00
priseborough
4540faf6af AP_NavEKF3: Improve waiting for GPS configuration 
Do not time out and provide an escalating series of messages. We may need to adjust the time thresholds used for escalation.
Do not wait if the EKF is not using the GPS.
 2017-01-27 16:57:42 +09:00
priseborough
52e8f687d9 AP_NavEKF3: fix logic bug introduced by magnetometer use changes 2017-01-27 16:57:42 +09:00
priseborough
a133d55b6d AP_NavEKF3: Allow copters to fly with magnetometers disabled 
Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted)
Copter optical flow operation without a magnetometer is permitted.
The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.
 2017-01-27 16:57:42 +09:00
priseborough
2e5ac40ef6 AP_NavEKF3: remove unnecessary stdio includes 2017-01-27 16:57:42 +09:00
priseborough
8688d1ddac AP_NavEKF3: Improve range finder selection logic 
Fixes bug that could leave it locked out of range finder use.
 2017-01-27 16:57:42 +09:00
priseborough
7e8f3fca53 AP_NavEKF3: Address review comments 
Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
 2017-01-27 16:57:42 +09:00
priseborough
b723966b8d AP_NavEKF2: Add protection against bad GPS time delay values 
Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.
 2017-01-27 16:57:42 +09:00
priseborough
59ee074560 AP_NavEKF3: Remove EKF2 names 2017-01-27 16:57:42 +09:00
priseborough
b862f0d7ad AP_NavEKF3: Enable use of GPS delay value from returned by the driver 
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
 2017-01-27 16:57:42 +09:00
priseborough
69a47d7522 AP_NavEKF3: Improve reporting of buffer allocation 2017-01-27 16:57:42 +09:00
priseborough
ceb42225fd AP_NavEKF3: Ensure enough time to fill buffers when starting filter 2017-01-27 16:57:42 +09:00
priseborough
a8fd1d8bcd AP_NavEKF3: fix potential time-stamping bug 
Use a consistent time reference
 2017-01-27 16:57:42 +09:00
priseborough
8d1733cee6 AP_NavEKF3: Use FIR filtered airspeed 
Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
 2017-01-27 16:57:42 +09:00
priseborough
9261c34097 AP_NavEKF3: Update default GPS delay 
This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.
 2017-01-27 16:57:42 +09:00
priseborough
ed5039823f AP_NavEKF3: Adapt sensor buffer lengths 
Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
 2017-01-27 16:57:42 +09:00
priseborough
2cc48f78a7 AP_NavEKF3: Update range beacon fusion 
Add innovation consistency check to alignment filter and publish alignment filter status data
 2017-01-27 16:57:42 +09:00
priseborough
92b8c33b19 AP_NavEKF3: publish 3-state range beacon estimator states 2017-01-27 16:57:42 +09:00
priseborough
7c53573a0c AP_NavEKF3: Allow range beacon use with intermittent GPS 2017-01-27 16:57:42 +09:00
priseborough
e5e4883c72 AP_NavEKF3: Fix GPS use inhibit interface documentation 2017-01-27 16:57:42 +09:00
priseborough
c7e1828238 AP_NavEKF3: improve variable name 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
cae557fb4c AP_NavEKF3: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
195e32c2fc AP_NavEKF3: fix some parameter descriptions 2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00