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325 Commits

Author SHA1 Message Date
Peter Hall
47e3fda8e9 AP_NavEKF3: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Barker
e289020332 AP_NavEKF3: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Hall
dd75609599 AP_NavEKF3: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker
03cca68c5a AP_NavEKF3: use instance number when logging rather than multiple message IDs 2019-12-17 12:22:07 +11:00
Peter Barker
9ed37e4486 AP_NavEKF3: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker
4431d01230 AP_NavEKF3: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker
b055eb8889 AP_NavEKF3: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell
c6aad9b1ec AP_NavEKF3: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Peter Barker
fe8599d6d7 AP_NavEKF3: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker
11b372a986 AP_NavEKF3: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Randy Mackay
f24afbcf4b AP_NavEKF3: initialise pre-arm failure message 2019-10-31 09:51:27 +08:00
Mark Whitehorn
3e21ef1389 AP_NavEKF3: add prearm failure message for null core pointer 2019-10-29 11:59:29 +08:00
Randy Mackay
b4a8691a9e AP_NavEKF3: remove wheel encoder update limit 2019-10-22 07:15:48 +08:00
Randy Mackay
63309c6925 AP_NavEKF3: suppress ekf fail-to-set-origin if core disabled 2019-10-22 07:15:48 +08:00
Jaaaky
54f8e1137e AP_NavEKF3: added EK3_MAG_EF_LIM parameter 
Adapted from EKF2 implementation as of commits
3835d2613, e9ed3540f and df4fc0fff
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.
 2019-10-20 07:34:35 +11:00
Randy Mackay
5baed38266 AP_NavEKF3: reduce EK3_HRT_FILT max to 30 2019-10-18 11:15:25 +09:00
Paul Riseborough
5b1d9ed868 AP_NavEKF3: Add missing vertical position derivative calculation 2019-10-18 11:15:25 +09:00
Andrew Tridgell
c2067d5bc2 AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees 
GPS modules tend to be rather optimistic about their yaw accuracy. By
setting a min or 5 degrees we prevent the user constantly getting
warnings about yaw innovations
 2019-10-15 11:06:11 +11:00
Andrew Tridgell
3995db49a4 AP_NavEKF3: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-01 15:39:03 +10:00
Andrew Tridgell
0e3a27f74f AP_NavEKF3: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Andrew Tridgell
96c6544997 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
05d62c62bb AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion 
not all elements of H_MAG are initialised, but they are used, as found
by valgrind
 2019-09-22 21:06:36 +10:00
Andrew Tridgell
c6f43e9700 AP_NavEKF3: fixed use of old irqsave() API 2019-09-21 15:36:47 +10:00
Peter Barker
1c187d8feb AP_NavEKF3: correct return of empty prearm string 2019-09-19 08:47:47 +09:00
Andrew Tridgell
fae2e44eac AP_NavEKF3: reset inhibitMagStates on in-flight yaw reset 
this is needed to prevent the next ConstrainVariances() from zeroing
the variances, which leads to very slow learning of mag states
 2019-09-11 14:22:18 +10:00
Randy Mackay
0e1a2efb7c EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Michael du Breuil
9a7d64e8fc AP_NavEKF3: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Peter Barker
7ea449076f AP_NavEKF3: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Peter Barker
61ed6e07eb AP_NavEKF3: shorten EKF3 initialisation send-text string 
Now:
pbarker@bluebottle:~/rc/ardupilot(master)$ echo -n "EKF3 IMU1 buffers IMU=11 OBS=4 OF=10, dt=0.0120" | wc
      0       7      47
pbarker@bluebottle:~/rc/ardupilot(master)$

Closes #11952
 2019-08-05 19:50:32 +10:00
Andrew Tridgell
fc65e04ef2 AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Andrew Tridgell
04944fa6ce AP_NavEKF3: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
451fe840ee AP_NavEKF3: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
0fcb2037e1 AP_NavEKF3: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
a3411efdb5 AP_NavEKF3: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
3818d8ecda AP_NavEKF3: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Siddharth Purohit
db9f7c3dd5 AP_NavEKF3: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
priseborough
209a32b8b9 AP_NavEKF3: Fix bug in use of external 321 yaw to align 2019-07-13 11:05:57 +10:00
priseborough
122f214416 AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor 2019-07-13 11:05:57 +10:00
Andrew Tridgell
b56914b879 AP_NavEKF3: use GPS yaw if available and enabled 
this allows a suitable GPS to be used as an external yaw source
 2019-07-13 11:05:57 +10:00
priseborough
0c4f92d4c1 AP_NavEKF3: Add control logic to use external yaw sensor 2019-07-13 11:05:57 +10:00
priseborough
71d358803a AP_NavEKF3: Fix yaw sensor alignment status reporting 2019-07-13 11:05:57 +10:00
priseborough
977a7b68ed AP_NavEKF3: Add push to buffer for external yaw sensor data 2019-07-13 11:05:57 +10:00
priseborough
0a971c5181 AP_NavEKF3: Add function to reset yaw to external measurement 2019-07-13 11:05:57 +10:00
Andrew Tridgell
62575a194c AP_NavEKF3: Add data buffers for yaw sensor 2019-07-13 11:05:57 +10:00
priseborough
87c7649d09 AP_NavEKF3: Add interface for yaw angle measurements 2019-07-13 11:05:57 +10:00
Andrew Tridgell
634db441f8 AP_NavEKF3: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell
92783bccfa AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell
3f9e48951b AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell
f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
b9a5794671 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
2208689893 AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell
209bca162c AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-07 19:03:01 +10:00
Peter Barker
ce45baa034 AP_NavEKF3: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker
f3f364de26 AP_NavEKF3: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Andrew Tridgell
5151416080 AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Peter Barker
ef2589738d AP_NavEKF3: use beacon singleton 2019-07-01 07:20:58 +09:00
Michael du Breuil
b624f6f008 AP_NavEKF3: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Andrew Tridgell
60831c2878 AP_NavEKF3: 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
Peter Barker
dce472745e AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Jaaaky
f21e4d833c AP_NavEKF3: Fix GPS < 3D empty PreArm: msg-as EKF2 2019-05-20 16:57:57 +10:00
Randy Mackay
0a5d6a430a AP_NavEKF3: accept optical flow data at up to 50hz 2019-05-11 16:23:57 +09:00
Andrew Tridgell
e4f6ffe719 AP_NavEKF3: fixed bug in EKF lane selection 
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
 2019-05-07 06:59:50 +10:00
Michael du Breuil
fe3b29a088 AP_NavEKF3: Allow checking all cores for health 2019-04-09 10:53:25 +10:00
Pierre Kancir
b3a1c9c90c AP_NavEKF3: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Paul Riseborough
9aaa0cd2e0 AP_NavEKF3: Fix typo in comment 2019-04-02 10:51:12 +11:00
Paul Riseborough
b7e0a2345c AP_NavEKF3: Fix indexing error 
Caused by copy and paste from AP_NavEKF2 which useds index 5 for vertical velocity. EKF3  should use index 6.
 2019-04-02 10:51:12 +11:00
Paul Riseborough
0d3e1a7d23 AP_NavEKF3: flow use parameter improvements 2019-04-02 10:51:12 +11:00
Paul Riseborough
d3e9281846 AP_NavEKF3: Update default plane optical flow param values 
Reduce time required to form estimate of terrain offset
 2019-04-02 10:51:12 +11:00
Paul Riseborough
35c82ef67f AP_NavEKF3: Improve optical flow height estimation 2019-04-02 10:51:12 +11:00
Paul Riseborough
b848e231c7 AP_NavEKF3: Add parameter to control how optical flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn
3c432cf25c AP_NavEKF3: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Tom Pittenger
17ee20af3f AP_NavEKF3: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
390e0fa601 AP_NavEKF3: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Arjun Vinod
f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger
55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Tom Pittenger
8a6a39b590 AP_NavEKF3: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell
39ffef1f08 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 13:04:52 +11:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
0d4475f443 AP_NavEKF3: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker
dd8da7321c AP_NavEKF3: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay
c616587b86 AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005 2018-12-27 14:09:53 +09:00
Pierre Kancir
340429fbbb AP_NavEKF3: pass by const reference when needed 2018-12-20 09:05:01 +09:00
Michael du Breuil
25ef5fed82 AP_NavEKF3: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Andrew Tridgell
de58fb4637 AP_NavEKF3: support in-flight compass learning 2018-10-24 07:25:42 +10:00
Peter Barker
560f17a570 AP_NavEKF3: use union to alias array and struct access to states 
This avoids creating two pointers of different types to the same memory.

Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on
which is deemed faster - not a good outcome.
 2018-10-19 08:46:43 +11:00
Peter Barker
27e3a89158 AP_NavEKF3: correct compilation when running MATH_CHECK_INDEXES 2018-10-19 08:46:43 +11:00
Peter Barker
281fad53c2 AP_NavEKF3: always set EKF control limits, even with no cores 2018-10-09 10:47:38 +11:00
Peter Barker
b68a91d171 AP_NavEKF3: remove default clause in setAidingMode 
All aiding modes should be covered in the switch statement; adding the
default clause squelches a potentially useful compiler warning
 2018-10-03 17:49:43 +01:00
Michael du Breuil
1991f223ac AP_NavEKF3: Fix roundoff, and missing offset handling of getLLH 2018-09-21 00:18:49 +01:00
Peter Barker
be9235a581 AP_NavEKF3: 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
Randy Mackay
3d72022f6e EKF: modify ALT_SOURCE param description 
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
 2018-07-18 08:31:09 +09:00
Andrew Tridgell
ac40a20c02 AP_NavEKF3: fill in gps_quality_good flag 2018-07-14 17:49:52 +10:00
Peter Barker
6bf5ffdb6d AP_NavEKF3: use compass singleton for logging 2018-07-04 20:11:27 +01:00
murata
4d5e258b19 AP_NavEKF3: Delete unused definitions 2018-06-11 09:11:44 +09:00
murata
f0a6cd5846 AP_NavEKF3: Clarify the message 2018-06-04 11:32:15 +09:00
Andrew Tridgell
553abda91c AP_NavEKF3: use single precision ceilf() 2018-05-07 11:43:23 +10:00
Andrew Tridgell
4869dd0ae4 AP_NavEKF3: send airspeed variance over mavlink 2018-04-30 15:41:32 +10:00
Peter Barker
901ba0034c AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton 2018-04-18 13:50:55 +09:00
Peter Barker
a0d874baa2 AP_NavEKF3: const accessors 2018-04-07 09:56:18 +09:00
Peter Barker
6791808ac6 AP_NavEKF3: remove unneeded initialisations 
AP_NavEKF3 should never be allocated in uninitialised memory
 2018-04-07 09:54:21 +09:00
Peter Barker
d38ff1dd2c AP_NavEKF3: initialise EKF3 constants in declaration not constructor 2018-04-07 09:54:21 +09:00
Pierre Kancir
2b2c1e2d78 AP_NavEKF3: only use bcn EKF is the alignement as been completed 2018-04-03 09:55:13 +09:00
Pierre Kancir
44a21bc8ac EKF3: correct acos to acosf 2018-04-03 09:54:45 +09:00
Pierre Kancir
48c5a9b9c5 AP_NavEKF3: style change in BCN mesurements 2018-04-03 09:54:43 +09:00
Pierre Kancir
4d2f2a2aad AP_NavEKF3: correct flag in case of GPS disable 2018-04-03 09:54:41 +09:00
priseborough
5785523a0d AP_NavEKF3: Clarify definition for gps_glitching flag 2018-03-27 20:28:56 +09:00
Peter Barker
55b8a2288e AP_NavEKF3: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker
7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
Paul Riseborough
6a1055389d AP_NavEKF3: Fix origin height estimator indexing bug 
EKF3 should use index 9 to access vertical position states
 2018-02-21 17:04:30 +10:00
Tatsuya Yamaguchi
aef9fa4a63 AP_NavEKF3: delete \n from the log using gcs().send_text 2018-02-02 09:13:54 +09:00
murata
6a87840c7a AP_NavEKF3: Change the if statement to a switch statement. 2018-01-28 22:20:08 +00:00
bugobliterator
ea2a880d8a AP_NavEKF3: allocate from MEM_FAST region 2018-01-15 11:46:02 +11:00
Peter Barker
5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
Pierre Kancir
be96a27fa8 AP_NavEKF3: only report terrain estimator innovations with valid rng value 2017-12-18 22:51:46 +00:00
Andrew Tridgell
c13eaf0c7f AP_NavEKF3: 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
6b30c9213a AP_NavEKF3: delay startup until IMU buffer is filled 
this prevents a vulnerability where the initial IMU data is processed
26 times (where 26 is the IMU buffer length)
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
2c6593e35e AP_NavEKF3: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
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