Randy Mackay
65b4db5ede
AP_NavEKF3: define Yaw alignment min GPS speed per vehicle
2024-03-26 10:01:42 +11:00
Paul Riseborough
5ab17496f6
AP_NavEKF3: Improve protection against GPS glitches during yaw alignment
2023-04-17 08:48:03 +10:00
Paul Riseborough
7063b385cf
AP_NavEKF3: Reduce use of GSF yaw for planes with no compass
2023-04-17 08:48:03 +10:00
Peter Barker
7f4c5a9a84
AP_NavEKF3: tidy variable declarations
2023-01-25 19:58:54 +11:00
Peter Barker
da95985dd7
AP_NavEKF3: remove mag_state state
...
we don't need to persist this across multiple calls as we now fuse all axes on the one step.
I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
2023-01-25 19:58:54 +11:00
Henry Wurzburg
0f05cb06fa
AP_NavEKF3: update and correct GSF parameter documentation
2022-02-15 10:56:35 +11:00
Josh Henderson
3006d50f97
AP_NavEKF3: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +10:00
Randy Mackay
2a2cde68ef
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
2021-08-10 09:44:57 +10:00
Andrew Tridgell
885e518741
AP_NavEKF3: allow for double EKF build
2021-07-10 07:20:41 +10:00
Siddharth Purohit
cd5b764fd8
AP_NavEKF3: use first usable compass index to set magSelectIndex
2021-06-02 17:10:19 +10:00
Paul Riseborough
9014afc9d4
AP_NavEKF3: Fix typo in comment
2021-05-11 10:37:08 +10:00
Paul Riseborough
b9abef37c3
AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.
2021-05-11 10:37:08 +10:00
Paul Riseborough
ac87cab6bc
AP_NavEKF3: constify array index variable
2021-03-23 10:05:59 +11:00
Paul Riseborough
44be7161c0
AP_NavEKF3: Reduce yaw drift when operating without external aiding
...
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
2021-03-23 10:05:59 +11:00
Paul Riseborough
073e273732
AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed
2021-03-23 10:05:59 +11:00
Paul Riseborough
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
2021-03-23 10:05:59 +11:00
Paul Riseborough
e3eea0a54a
AP_NavEKF3: Use specialised function for in-flight plane yaw alignment
2021-03-05 12:10:01 +11:00
Andrew Tridgell
1ccda938cb
AP_NavEKF3: make external navigation optional
2021-01-24 11:56:52 +11:00
Randy Mackay
647c568ab9
AP_NavEKF3: out-of-date comments removed
...
GPS, Static and ExtNav yaw buffers have been separated
2021-01-05 10:58:06 +11:00
Randy Mackay
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c
AP_NavEKF3: add support for GSF as yaw source
2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
2021-01-05 10:58:06 +11:00
Peter Barker
6dfd2f2ff9
AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication
2020-12-17 16:00:29 +09:00
Randy Mackay
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
2020-12-16 19:18:29 +11:00
Randy Mackay
0c3fcfd9d6
AP_NavEKF3: add missing break to case statements
2020-12-16 19:18:29 +11:00
Paul Riseborough
908b348c31
AP_NavEKF3: Fix typo in enum label
2020-12-15 19:29:16 +11:00
Randy Mackay
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
2020-12-15 19:29:16 +11:00
Randy Mackay
c2edae905f
AP_NavEKF3: simplify logic when updating yawAngDataStatic
2020-12-15 19:29:16 +11:00
Randy Mackay
843ddb4fdc
AP_NavEKF3: minor format fix
2020-12-15 19:29:16 +11:00
Paul Riseborough
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
2020-12-15 19:29:16 +11:00
Paul Riseborough
ccfd89240b
AP_NavEKF3: Fix error in calculation of static 312 order yaw reference
2020-12-15 19:29:16 +11:00
Peter Barker
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
2020-12-01 10:40:09 +11:00
Andrew Tridgell
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
2020-11-20 16:43:44 +09:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027
AP_NavEKF3: integrate Source for yaw
2020-11-20 16:43:44 +09:00
Paul Riseborough
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
...
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
2020-11-16 16:01:13 +11:00
Andrew Tridgell
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
...
saves a bit of flash space
2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Randy Mackay
2681d3afe2
AP_NavEKF3: simplify alignYawAngle
2020-11-03 11:00:01 +11:00
Paul Riseborough
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
2020-10-26 11:03:50 +11:00
Paul Riseborough
69632336e1
AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw
...
Uses sympy derivation
2020-10-26 11:03:50 +11:00
Paul Riseborough
4e41e9f5f1
AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order
...
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
2020-10-26 11:03:50 +11:00
Paul Riseborough
73d5ca5ad3
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
...
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
2020-10-26 11:03:50 +11:00
Paul Riseborough
0b96f046c2
AP_NavEKF3: Unblock initial yaw alignment message
2020-10-26 11:03:50 +11:00
Peter Barker
0496ecc4f6
AP_NavEKF2: remove unused state variables
2020-10-22 08:47:08 +11:00
Peter Barker
83d784c22d
AP_NavEKF3: fix includes
2020-10-20 11:40:54 +11:00
Andrew Tridgell
c03c43e52c
AP_NavEKF3: use same mag switch pattern as EKF2
...
based on Pauls suggested change
2020-09-08 11:01:14 +10:00
Andrew Tridgell
458ade86f5
AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask
2020-08-28 10:17:00 +10:00
chobits
7ad9e3548f
AP_NavEKF3: make reset source variable local
2020-08-10 09:43:28 +09:00
Peter Barker
6b701ae3b3
AP_NavEKF3: correct includes
2020-08-07 19:20:07 +10:00