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150 Commits

Author SHA1 Message Date
Peter Barker 6a0a466f42 AP_NavEKF2: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker 5175d23cc1 AP_NavEKF2: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Michael du Breuil f04e47fc17 AP_NavEKF2: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Andrew Tridgell 3073c4da7a AP_NavEKF2: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Andrew Tridgell 3835d2613e AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-06-03 12:21:29 +10:00
Michael du Breuil 7f639c1bb2 AP_NavEKF2: Allow checking all cores for failure 2019-04-09 10:53:25 +10:00
Paul Riseborough 8038efc152 AP_NavEKF2: Flow use parameter updates 2019-04-02 10:51:12 +11:00
Paul Riseborough a40208ebd4 AP_NavEKF2: Improve optical flow height estimation 
Updated derivation using sequential fusion of Y and X axis data.
 2019-04-02 10:51:12 +11:00
Paul Riseborough 2b8b53d6b2 AP_NavEKF2: Add parameter to control how optical flow flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn 6b70181837 AP_NavEKF2: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Arjun Vinod a0e7c37f8c AP_NavEKF2: fixed typos 2019-02-22 10:21:35 +11:00
chobits 3766ee1b60 AP_NavEKF2: add external navigation data lag 2019-01-31 08:30:22 +09:00
Peter Barker d8aa8d2b71 AP_NavEKF2: fix writeOptFlowMeas signature 
const some of the vectors, stop taking references to scalars that aren't
being changed
 2018-09-11 09:03:22 +10:00
Michael du Breuil ee9cc28fda AP_NavEKF2: Utilize the GPS drivers estimate for lag 2018-08-07 09:55:26 +10:00
Peter Barker 81044760c7 AP_NavEKF2: const accessors 2018-04-04 12:20:36 +01:00
Paul Riseborough c680b931dc AP_NavEKF2: Enable fusion of external nav position data 2018-03-27 20:28:42 +09:00
Peter Barker 5ab89324b2 AP_NavEKF2: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 5b7d5a9757 AP_NavEKF2: mark getEulerAngles as const 2018-03-07 12:34:39 +00:00
Peter Barker dbe860152d AP_NavEKF2: tight types on constants 
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
 2018-03-01 20:27:19 +09:00
Peter Barker 3a99b2bce1 AP_NavEKF: move initialisation of EKF constants into header file 
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
 2018-03-01 20:27:19 +09:00
Andrew Tridgell 4d4e66d825 AP_NavEKF2: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Lucas De Marchi 3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
priseborough f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: 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 ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
Andrew Tridgell 2de8777669 AP_NavEKF2: 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
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Andrew Tridgell 9f3c2cb704 AP_NavEKF2: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
Jacob Walser e7a34b0fb3 AP_NavEKF2: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough 76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-13 01:18:28 +00:00
priseborough 14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
Randy Mackay 66a9093cd0 AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data 2016-11-30 17:56:51 +09:00
priseborough ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
Randy Mackay e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +09:00
priseborough 0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-11-24 19:57:45 +09:00
Andrew Tridgell 82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2 
we don't need to copy that vector3f for every sample. A uint8_t does
the job
 2016-10-27 17:09:06 +11:00
priseborough fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
priseborough ab55991b33 AP_NavEKF2: Report position jumps due to lane switches 
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
 2016-10-10 11:56:14 +09:00
Francisco Ferreira 42cd8e9721 AP_NavEKF2: Handle yaw jumps due to core switches 
Based on work from Paul Riseborough (priseborough)
 2016-09-25 18:24:11 -07:00
Francisco Ferreira 8da22e441b Revert 3 commits about yaw reset core switch 
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.

Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.

Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
 2016-09-25 18:24:11 -07:00
priseborough cb1d3c7ed2 AP_NavEKF2: Allow for terrain gradient when using range finder for height 2016-09-13 17:45:03 +09:00
priseborough 77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough 885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
Andrew Tridgell dd812cfc0c AP_NavEKF2: added getPrimaryCoreIMUIndex() 
needed for correct AHRS gyro estimate
 2016-09-05 12:53:53 +10:00
priseborough e6f36f04db AP_NavEKF2: Enable automatic use of range finder height 
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
 2016-08-08 10:56:44 +09:00
priseborough 230ba2700f AP_NavEKF2: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough b1717649b1 AP_NavEKF2: remove combined NED local position interface 2016-07-19 12:16:49 +10:00
priseborough e374ec634d AP_NavEKF2: Add separate horizontal/vertical local position interfaces 2016-07-19 12:16:49 +10:00
priseborough 14bb4f4574 AP_NavEKF2: Publish output observer tracking errors 2016-07-09 15:57:35 +10:00
Paul Riseborough 165335b9e3 AP_NavEKF2: Improve ability to tune magnetic field learning 
Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
 2016-06-28 14:20:12 +10:00
Paul Riseborough 6523481c76 AP_NavEKF2: Improve tracking accuracy of output predictor 
Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
 2016-06-28 14:20:12 +10:00
Paul Riseborough 1400dc9d02 AP_NavEKF2: Add tuning parameters for magentic yaw fusion 
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
 2016-06-28 14:20:12 +10:00
Paul Riseborough 71b589c89c AP_NavEKF2: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Andrew Tridgell ea508f1b80 AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters 2016-05-09 12:26:57 +10:00
Andrew Tridgell 32af886ba9 AP_NavEKF2: use consistent logging timestamps for sensors 2016-05-07 18:27:22 +10:00
Andrew Tridgell 4e4c575f16 AP_NavEKF2: added have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell 223c512188 AP_NavEKF2: added logging of sensor data in EKF2 2016-05-07 18:27:18 +10:00
Andrew Tridgell f92279f436 AP_NavEKF2: allow logging of IMT data from inside EKF2 2016-05-07 18:27:17 +10:00
Jonathan Challinger 97112ccd44 AP_NavEKF2: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Lucas De Marchi e40b87cd0e AP_NavEKF2: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Paul Riseborough 7e05646316 AP_NavEKF2: Improvements to non-GPS performance 
Change to user adjustable fusion of constant position (as per legacy EKF) instead of constant velocity.
Enable user to specify use of 3-axis magnetometer fusion when operating without aiding.
Don't allow gyro scale factor learning without external aiding data as it can be unreliable
 2016-02-18 08:53:41 +09:00
Paul Riseborough 20923da23a AP_NavEKF2: Allow tuning of non-GPS mode 
Eliminate the use of horizontal position states during non-aiding operation to make it easier to tune.
Explicitly set the horizontal position associated Kalman gains to zero and the coresponding covariance entries to zero after avery fusion operation.
Make the horizontal velocity observation noise used during non-aiding operation adjustable.
Use a fixed value of velocity noise during initial alignment so that the flight peformance can be tuned without affecting the initial alignment.
 2016-01-13 08:05:39 +11:00
Paul Riseborough f9cadaf15c AP_NavEKF2: Increase resolution of innovation consistency gate parameters 
Also adds protection against setting the gate to a number that would casue numerical errors.
 2015-11-18 11:39:53 +11:00
Paul Riseborough 6522fb2621 AP_NavEKF2: Allow user to relax pre-flight GPS checks 2015-11-12 20:39:15 +11:00
Paul Riseborough 577670ccee AP_NavEKF2: Reduce memory required by 6KB when running at 400Hz 
Down-sample the IMU and output observer state data to 100Hz for storage in the buffer.
This reduces storage requirements for Copter by 75% or 6KB
It does not affect memory required by plane which already uses short buffers due to its 50Hz execution rate.
This means that the EKF filter operations operate at a maximum rate of 100Hz.
The output observer continues to operate at 400Hz and coning and sculling corrections are applied during the down-sampling so there is no loss of accuracy.
 2015-11-10 15:51:18 +11:00
Paul Riseborough f00b1ff22d AP_NavEKF2: Publish the magnetometer selection index 2015-11-09 22:07:10 +11:00
Paul Riseborough 0b64ad0123 AP_NavEKF2: Enable EKF instance to be specified when requesting public data 
Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
 2015-11-08 15:37:28 +11:00
Paul Riseborough 6c2dc3ccf8 AP_NavEKF2: Publish the number of instances 2015-11-08 15:37:27 +11:00
Paul Riseborough 2dcaeb0304 AP_NavEKF2: Update publishing of primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough b24507d33c AP_NavEKF2: Publish the primary EKF index 2015-11-08 15:37:27 +11:00
Andrew Tridgell 2ab2afc86a AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs 
no voting between multiple IMUs yet
 2015-11-06 10:42:58 +11:00
Paul Riseborough b6d63d4b4e AP_NavEKF2: Fix reporting of pre-flight GPS checks 
Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
 2015-11-02 14:12:16 +11:00
Randy Mackay 94adaba305 AP_NavEKF2: constify getLastPosNorthEastReset 
Also constify getLastVelNorthEastReset
 2015-10-30 12:24:16 +09:00
Randy Mackay 52ed075405 AP_NavEKF2: constify getLastYawResetAngle 2015-10-30 12:24:12 +09:00
Paul Riseborough 74da4d8e57 AP_NavEKF2: Remove GPS glitch offset logic 
Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.
 2015-10-30 12:24:04 +09:00
Paul Riseborough 35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough 47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Paul Riseborough 20a3f9782e AP_NavEKF2: Add full set of selectable pre-flight GPS checks 2015-10-10 21:22:53 +09:00
Paul Riseborough 22920aafad AP_NavEKF2: Improve GPS status reporting 2015-10-10 14:48:59 +09:00
Paul Riseborough 325f4139fe AP_NavEKF2: Clean up mode change logic 2015-10-05 13:35:26 +09:00
Randy Mackay 015f700bc0 AP_NavEKF2: getLastYawResetAngle returns last reset time 2015-09-24 16:57:38 +09:00
Paul Riseborough 80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough 4acd6c129a AP_NavEKF2: Update parameters 2015-09-24 12:58:43 +10:00
Paul Riseborough 4a7714e15d AP_NavEKF2: Remove unused parameters and improve naming consistency 2015-09-24 12:58:43 +10:00
Paul Riseborough 8afb26087d AP_NavEKF2: Remove unused function 2015-09-24 12:58:43 +10:00
Andrew Tridgell fe76662faf AP_NavEKF2: added set_enable() API 2015-09-23 18:55:12 +10:00
Andrew Tridgell cbc62238a9 AP_NavEKF2: run astyle for reformatting 2015-09-23 17:29:28 +10:00
Andrew Tridgell 760dafbb9d AP_NavEKF2: added enabled() function 2015-09-23 12:09:26 +10:00
Andrew Tridgell b4555f30a5 AP_NavEKF2: added frontend calls to core code 2015-09-23 11:56:42 +10:00
Andrew Tridgell 3ac75aeffb AP_NavEKF2: added EK2_ENABLE parameter 2015-09-23 11:56:42 +10:00
Paul Riseborough f500474a86 AP_NavEKF2: initial import of new maths EKF 2015-09-23 09:51:14 +10:00