Peter Barker
87108b86c8
AP_NavEKF3: add documentation for XKFM message
2020-04-21 09:48:43 +10:00
Randy Mackay
22c9081c83
AP_NavEKF3: minor comment fix
2020-04-15 19:35:30 +09:00
Peter Barker
d19f8db06f
AP_NavEKF3: rename APMrover2 to Rover
2020-04-14 09:50:34 +09:00
Andrew Tridgell
1f8cd830ea
AP_NavEKF3: fixed use of tabs
2020-04-11 21:14:31 +10:00
Paul Riseborough
f68f355852
AP_NavEKF3: Fix timestamp wrapping
2020-04-11 21:14:31 +10:00
Paul Riseborough
33ab1a7b15
AP_NavEKF3: Ensure yaw fusion commences when starting from rest
2020-04-11 21:14:31 +10:00
Paul Riseborough
a3725e2581
AP_NavEKF3: Fix bug in calculation of rotation order
2020-04-11 21:14:31 +10:00
Paul Riseborough
eeac0a05b9
AP_NavEKF3: Improvements to on ground movement check
...
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
2020-04-11 21:14:31 +10:00
Paul Riseborough
ebb8bb4f6f
AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts
2020-04-11 21:14:31 +10:00
Andrew Tridgell
3ae0b0d446
AP_NavEKF3: added using_external_yaw() method
...
needed by AHRS for attitudes_consistent() check
2020-04-11 21:14:31 +10:00
Andrew Tridgell
6f04fae4a0
AP_NavEKF3: added fallback to mag option with external yaw
...
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled
This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
2020-04-11 21:14:31 +10:00
Andrew Tridgell
a3100251a8
AP_NavEKF3: use enum class for EK3_MAG_CAL values
...
and use effective_magCal() everywhere for consistency
2020-04-11 21:14:31 +10:00
Andrew Tridgell
be674fc36c
AP_NavEKF3: make mag variance reporting consistent
...
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
2020-04-06 17:30:29 +10:00
Peter Barker
609b66a053
AP_NavEKF3: rename struct log_NKF2a to log_XKF2
2020-03-31 10:25:59 +11:00
Daniel Magree
b3ff81648b
Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse
2020-03-25 21:52:49 +11:00
Peter Barker
4c19eb4bab
AP_NavEKF3: use compass reference rather than repeatedly asking AHRS for it
2020-03-13 08:26:18 +11:00
Andrew Tridgell
772438f3ed
AP_NavEKF3: fixed use of antenna position when switching GPS primary
...
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.
This fixes that (trivial fix) and also fixes a similar issue on
position reset
2020-02-19 18:12:54 +11:00
Siddharth Purohit
545331024f
AP_NavEKF3: Primary compass is always at serial number 0
2020-02-19 13:59:53 +09:00
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
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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
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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
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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
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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
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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
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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