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625 Commits

Author SHA1 Message Date
Randy Mackay
b2d4622320 AP_NavEKF2: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Andrew Tridgell
35e95d3328 AP_NavEKF2: reset body mag variances at key points 
reset on sensor switch or when changing to 3D fusion
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
534e63e2fa AP_NavEKF2: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
d6dcbda0d3 AP_NavEKF2: removed duplicate compass switch check 
left over from last set of changes
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
067001bd61 AP_NavEKF2: take into account alignment when comparing cores 
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
 2020-09-14 20:29:04 +10:00
Paul Riseborough
da7bb44a61 AP_NavEKF2: Consolidate magnetometer timeout checks 2020-09-08 11:01:14 +10:00
Andrew Tridgell
6b9e595602 AP_NavEKF2: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Andrew Tridgell
6ee527d3e0 AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla
56cbcb42ee AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet 
TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
 2020-08-27 20:20:51 +10:00
Andrew Tridgell
83e5639225 AP_NavEKF2: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
Peter Barker
032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
Andy Piper
e39e24bd18 AP_NavEKF2: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Paul Riseborough
25cba50f10 AP_NavEKF3: Fix EK2_MAG_CAL parameter description 2020-07-07 15:33:58 +10:00
Paul Riseborough
ea4589ea94 AP_NavEKF2: Reset yaw estimator bias states at start of flight 
Enables yaw bias to be learned when sitting stationary on ground.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
b6d9b6f3c7 AP_NavEKF2: Update documentation for non-compass use case 
Instruction now explicitly specifies that all COMPASS_USE parameters must be set to 0 and COMPASS_ENABLE must be set to 1
 2020-07-07 15:33:58 +10:00
Paul Riseborough
ccaa4d6aa9 AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Peter Barker
081c0bbfe0 AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Paul Riseborough
9507a2e157 AP_NavEKF2: Fix parameter description 2020-06-24 21:16:50 +09:00
Randy Mackay
a8c2be26ba AP_NavEKF2: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Paul Riseborough
502b96f49c AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
83dc46d539 AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
280d33d030 AP_NavEKF2: reduce duplicated code. 2020-06-24 21:16:50 +09:00
Paul Riseborough
11a0fef3d0 AP_NavEKF2: Fix indent 2020-06-24 21:16:50 +09:00
Paul Riseborough
fc18ee91df AP_NavEKF2: Add missing fallback to baro for range beacon use case 2020-06-24 21:16:50 +09:00
Paul Riseborough
d118c8fc38 AP_NavEKF2: Fix range aid switching logic 
Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK2_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Pierre Kancir
9bbd2b19c2 AP_NavEKF2: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay
989ffb79cd AP_NavEKF2: minor format fix 2020-06-19 13:46:52 +09:00
Randy Mackay
966d59a26d AP_NavEKF2: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
chobits
f5f403947c AP_NavEKF2: clarify POSNE_M_NSE desc 2020-06-09 20:44:57 +09:00
chobits
e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Randy Mackay
6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Peter Barker
b02d9abd32 AP_NavEKF2: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Peter Barker
19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Paul Riseborough
af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling 
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
 2020-05-20 15:09:32 +10:00
Andy Piper
9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Randy Mackay
f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough
c94de61e29 AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
chobits
a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay
b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell
c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Paul Riseborough
e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Randy Mackay
90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Randy Mackay
2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay
6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay
990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay
43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay
014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay
3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker
7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00