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461 Commits

Author SHA1 Message Date
Andrew Tridgell
6634555e40 AP_NavEKF2: 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 10:44:37 +10:00
Andrew Tridgell
e9d51bb0c7 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:44:32 +10:00
Andrew Tridgell
a75e2e1c0e AP_NavEKF2: 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 10:44:26 +10:00
Andrew Tridgell
450224b420 AP_NavEKF2: origin handling fixes from Francisco 2019-07-09 16:23:44 +10:00
Andrew Tridgell
6c54ba3e7a AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-06 15:50:34 +10:00
Andrew Tridgell
befefc152a AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-06 15:50:34 +10:00
Andrew Tridgell
358aaab472 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
2fc28e2eae AP_NavEKF2: 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
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
760bbf9921 AP_NavEKF2: 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.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
1de946b29e AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
994a4b2082 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6f5d0fa3f0 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.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
14265d9580 AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-06 15:50:34 +10:00
Andrew Tridgell
9f4085b0bc AP_NavEKF2: learn gyro biases for inactive gyros 
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
 2019-07-06 08:33:59 +10:00
Andrew Tridgell
fe724e40b3 AP_NavEKF2: 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.
 2019-02-25 10:52:25 +11:00
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
3d31773fb4 AP_NavEKF2: fill in gps_quality_good flag 2018-07-14 17:49:52 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
59e087214f AP_NavEKF2: spell in comments (NFC) 2018-07-10 08:17:57 +09:00
Peter Barker
baa818a812 AP_NavEKF2: use compass singleton for logging 2018-07-04 20:11:27 +01:00
murata
a9b2b9dddf AP_NavEKF2: Delete unused definitions 2018-06-11 09:11:44 +09:00
murata
1e011c0c15 AP_NavEKF2: Clarify the message 2018-06-04 11:32:15 +09:00
Andrew Tridgell
fb0deba3aa AP_NavEKF2: send airspeed variance over mavlink 2018-04-30 15:41:31 +10:00
Peter Barker
578facc9ad AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton 2018-04-18 13:50:55 +09:00
Peter Barker
81044760c7 AP_NavEKF2: const accessors 2018-04-04 12:20:36 +01:00
priseborough
12fd19ea26 AP_NavEKF2: Clarify definition for gps_glitching flag 2018-03-27 20:28:57 +09:00
Paul Riseborough
c680b931dc AP_NavEKF2: Enable fusion of external nav position data 2018-03-27 20:28:42 +09:00
Peter Barker
40957ec430 AP_NavEKF2: use ins singleton 2018-03-16 00:37:35 -07:00
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
bugobliterator
b1213a522d AP_NavEKF2: allocate NavEKF core from MEM_FAST region 2018-01-15 11:46:02 +11:00
Peter Barker
9c8466dc03 AP_NavEKF2: use GPS singleton 2017-12-27 00:58:02 +00:00
Pierre Kancir
171e80d8dc AP_NavEKF2: only report terrain estimator innovations with valid rng value 2017-12-18 22:51:46 +00:00
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
priseborough
3b32d583a9 AP_NavEKF2: Fix delta time use error 2017-12-12 11:39:38 +11:00
priseborough
440d361aff AP_NavEKF2: Limit range of delta times 2017-12-12 11:39:38 +11:00
Andrew Tridgell
97729a12f0 AP_NavEKF2: don't run IMU updates until buffer fills 
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
 2017-12-12 11:39:38 +11:00
Andrew Tridgell
4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Samuel Tabor
1b4705242c AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available 2017-11-20 13:53:31 +09:00
priseborough
efdc651d1a AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter 
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
 2017-10-04 00:24:15 +01:00
Lucas De Marchi
3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker
1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough
f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Michael du Breuil
dffa3d3b40 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
priseborough
ac568bae53 AP_NavEKF2: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough
027552ef44 AP_NavEKF2: 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
5da3759ff4 AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Randy Mackay
7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough
c69c5440a0 AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00