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239 Commits

Author SHA1 Message Date
Paul Riseborough
9eef97d108 AP_NavEKF2: use consistent parameter naming 
M_NSE is a measurement noise
P_NSE is a observation noise
I_GATE is an innovation gate

This also ensures the new parameter values required to use the EKF2 will be enforced.
 2016-05-25 12:06:04 +10:00
Paul Riseborough
74121fdaeb AP_NavEKF2: fix bug preventing in-flight alignment 2016-05-21 15:13:53 +10:00
Paul Riseborough
16cb7078cd AP_NavEKF2: Fix misleading pre-flight status reporting 2016-05-21 15:13:53 +10:00
Paul Riseborough
38d61f5281 AP_NavEKF2: Update status reporting to handle no-magnetometer startup 2016-05-21 15:13:53 +10:00
Paul Riseborough
9aa3cdfaae AP_NavEKF2: Update GPS yaw re-alignment function 
Updates to support initial alignment without magnetometer
 2016-05-21 15:13:53 +10:00
Paul Riseborough
e3c966661b AP_NavEKF2: Remove unnecessary variance reset 
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
 2016-05-21 15:13:53 +10:00
Paul Riseborough
1179c08473 AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw 
This happens if planes are flown without a compass
 2016-05-21 15:13:53 +10:00
Paul Riseborough
581c1aa0d4 AP_NavEKF2: Adjust attitude variance values used after a heading reset 
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
 2016-05-21 15:13:53 +10:00
Paul Riseborough
5ec8d523f6 AP_NavEKF: remove unwanted co-variance reset 
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
 2016-05-21 15:13:53 +10:00
Paul Riseborough
66e4d9d6e8 AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset 
Ensures consistent behaviour after resets and reduces attitude disturbances
 2016-05-21 15:13:52 +10:00
Paul Riseborough
cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass 
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
08de4e6d95 AP_NavEKF: Do not perform start-up yaw alignment if no compass 
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
d2694fe5dc AP_NavEKF2: Remove duplicate transition into GPS aiding 
This decision is made in one place in setAidingMode()
 2016-05-21 15:13:52 +10:00
Paul Riseborough
7201f7d2fd AP_NavEKF2: fix comment 2016-05-21 15:13:52 +10:00
Paul Riseborough
64a8153b68 AP_NavEKF2: update function name 
The primary purpose of this function is re-alignment
 2016-05-21 15:13:52 +10:00
Paul Riseborough
addd213af0 AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude 2016-05-21 15:13:52 +10:00
Paul Riseborough
a3b78e6231 AP_NavEKF2: update tuning defaults 2016-05-21 15:13:51 +10:00
Paul Riseborough
65f63341d7 AP_NavEKF2: Improve numerical error protection in optical flow fusion 
Abort fusion of data if variances will become negative and publish the fault
 2016-05-21 15:13:51 +10:00
Paul Riseborough
42da33593d AP_NavEKF2: fix yaw fusion numerical health reporting 2016-05-21 15:13:51 +10:00
Paul Riseborough
6eb9d43507 AP_NavEKF2: add numerical error checking and isolation to mag decl fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
b325c5faeb AP_NavEKF2: add error checking and isolation to mag heading fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
a0b1dc5325 AP_NavEKF2: add error checking and isolation to 3D amg fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
51a3df0319 AP_NavEKF2: Add error checking and isolation to pos vel fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
71b589c89c AP_NavEKF2: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
0982bd0b2b AP_NavEKF2: update parameter documentation 2016-05-21 15:13:50 +10:00
Paul Riseborough
46a2993a0d AP_NavEKF: use intuitive units for imu bias process noise parameters 2016-05-21 15:13:50 +10:00
Paul Riseborough
8c374fd679 AP_NavEKF2: correct comments 2016-05-21 15:13:50 +10:00
Paul Riseborough
6be9eaa524 AP_NavEKF2: use receiver estimated accuracy 
Adjust the GPS observation noise based on receiver accuracy output if available.
 2016-05-21 15:13:50 +10:00
Paul Riseborough
dddc213836 AP_NavEKF2: Open up tuning limits 
Done to assist tuning assessments
 2016-05-21 15:13:50 +10:00
Paul Riseborough
cf05e110fc AP_NavEKF2: fix scaling error in use of IMU noise parameters 
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
 2016-05-21 15:13:50 +10:00
Andrew Tridgell
4080c6091d AP_NavEKF2: fixed an assumption that _ahrs->get_compass() always works 
if MAG_ENABLE=0 in plane there is no compass
 2016-05-19 14:16:40 +10:00
Tom Pittenger
d67b1edf10 AP_NavEKF2: (potential) compiler warning of float to double promotion 2016-05-17 20:30:51 -07:00
Ricardo de Almeida Gonzaga
64d14356b9 AP_NavEKF2: Fix typos 2016-05-13 19:20:06 -03:00
dgrat
41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
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
b7ba0fa458 AP_NavEKF2: added ad-hoc logging example to EKF2 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
Andrew Tridgell
9c4dd024bf AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA 
this fixes a problem where users of NMEA GPS receivers could not arm
with default EK2 parameters.
 2016-05-05 19:46:33 +10:00
Andrew Tridgell
ac60901b0c AP_NavEKF2: use vector comparison for new mag vector 2016-04-21 09:56:22 +10:00
Jonathan Challinger
97112ccd44 AP_NavEKF2: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Jonathan Challinger
1185cd1be7 AP_NavEKF2: move getMagOffsets into outputs 2016-04-21 09:51:41 +10:00
Jonathan Challinger
acfaafe276 AP_NavEKF2: detect changes to magnetometer offset parameters and reset states 2016-04-21 09:51:41 +10:00
Paul Riseborough
1ecc206eee AP_NavEKF2: Allow use in planes without a magnetometer 
Implements the following techniques to enable planes to operate without magnetometers.

1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth.
2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw.
3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster.
 2016-04-15 08:31:47 +10:00
Paul Riseborough
6d9ba8c527 AP_NavEKF2: Improve protection against ground based mag interference 
Reset the mag field states and yaw earlier than the normal 5m height threshold if toilet bowling is detected.
 2016-03-17 10:55:11 +11:00
Lucas De Marchi
e40b87cd0e AP_NavEKF2: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Paul Riseborough
38b3625ed8 AP_NavEKF2: Fix bug in initial alignment calculation 
The bug caused the initial roll angle to be incorrect if the vehicle was powered up when inverted, causing long alignment times.
 2016-03-02 09:10:09 +09:00
Paul Riseborough
2888bdd6d5 AP_NavEKF: Protect against possible div by 0 2016-03-01 10:08:47 -03:00