Andrew Tridgell
579e4566c6
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba
AP_NavEKF3: allow for double EKF build
2021-07-23 10:19:46 +09:00
Josh Henderson
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
2021-06-22 12:01:10 +10:00
Josh Henderson
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
2021-06-22 12:01:10 +10:00
Paul Riseborough
76d0dcc25c
AP_NavEKF3: Use common method for handling baro ground effect
2021-06-02 11:13:16 +09:00
Andrew Tridgell
dc9435a88d
AP_NavEKF3: don't limit baro change when we are in fixed wing mode
2021-06-02 11:13:16 +09:00
Peter Barker
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Paul Riseborough
53c4b163ce
AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity
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Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
2021-03-23 10:05:59 +11:00
Peter Barker
4605870788
AP_NavEKF3: remove separate calls to get delta-times for vel and ang
2021-03-13 11:29:29 +11:00
Paul Riseborough
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
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Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
2021-03-05 12:10:01 +11:00
Andrew Tridgell
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
1ccda938cb
AP_NavEKF3: make external navigation optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
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saves about 11k of flash
2021-01-24 11:56:52 +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
Paul Riseborough
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
2020-12-15 19:29:16 +11:00
Paul Riseborough
bdc202378a
AP_NavEKF3: fix white space
2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09
AP_NavEKF3: Formatting and comment fixes
2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e
AP_NavEKF3: rework parameter handling
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and fixed indentation
2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
2020-12-11 15:21:41 +11:00
Andrew Tridgell
2071a19a40
AP_NavEKF3: only fuse airspeed if healthy
2020-12-11 09:59:49 +11:00
chobits
013b39d2a6
AP_NavEKF3: fix ext nav vel timestamp cal
2020-12-07 08:54:42 +09:00
Andrew Tridgell
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
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only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
2020-12-01 10:53:08 +11:00
Peter Barker
2d25149e2e
AP_NavEKF3: move global state to be on the stack
2020-12-01 10:40:09 +11:00
Andrew Tridgell
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
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this ensures that we record GPS vertical velocity status for every
sample correctly
2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Peter Barker
52b8b95a72
AP_NavEKF3: rearrange readGPSData to remove some nesting
2020-11-30 11:51:12 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Andrew Tridgell
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
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also integrate useVelZSource
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
Randy Mackay
8931e50166
AP_NavEKF3: integrate Source for alt
2020-11-20 16:43:44 +09:00
Randy Mackay
c21d58ebea
AP_NavEKF3: integrate Source for position
2020-11-20 16:43:44 +09:00
Andrew Tridgell
c14d19be68
AP_NavEKF3: fixed gcc 9.3 build error
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gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
2020-11-13 14:30:11 +11:00
Andrew Tridgell
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
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saves a bit of flash space
2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f
AP_NavEKF3: use selected GPS for gps_yaw_deg()
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more than one GPS could provide yaw
2020-11-10 16:15:45 +11:00
Andrew Tridgell
e87f98066f
AP_NavEKF3: support replay with external navigation data
2020-11-10 16:15:45 +11:00
Andrew Tridgell
7bbbbd314c
AP_NavEKF3: added optflow support for AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Randy Mackay
2f1ae29a9c
AP_NavEKF3: extnav data gets corrected boolean
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CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10
AP_NavEKF3: gps_elements gets corrected flag
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CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
2020-10-24 08:49:33 +09:00
Andrew Tridgell
8a4b0f858a
AP_NavEKF3: reset body mag variances at key points
...
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
2020-09-20 09:25:57 +10:00
Andrew Tridgell
c03c43e52c
AP_NavEKF3: use same mag switch pattern as EKF2
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based on Pauls suggested change
2020-09-08 11:01:14 +10:00
Andrew Tridgell
3836b59041
AP_NavEKF3: fixed handling of failed compass
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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