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168 Commits

Author SHA1 Message Date
Peter Barker 38c6eb24cd AP_NavEKF2: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00
Tatsuya Yamaguchi a51c3206b2 AP_NavEKF2: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1 2022-12-20 10:05:24 +11:00
Stephen Dade c0df999094 AP_NavEKF2: Add support for fixed height optical flow 2022-12-01 08:03:47 +09:00
Peter Barker 81d39677ab AP_NavEKF2: honour AP_BEACON_ENABLED 
if the DAL cuts its APIs out based on AP_BEACON_ENABLED we have to modify EKF2 to not use those APIs
 2022-11-16 08:16:31 +11:00
Peter Barker a01202c723 AP_NavEKF2: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Peter Barker 65b00bcc2a AP_NavEKF2: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Josh Henderson d5f5a3024a AP_NavEKF2: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Pierre Kancir d95f503a32 AP_NavEKF2: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Peter Barker dec4ba86b6 AP_NavEKF2: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Andrew Tridgell 6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Josh Henderson 0561637350 AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson d7ecd6883d AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-06-22 12:01:10 +10:00
Andrew Tridgell ea6724aca5 AP_NavEKF2: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell 32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker 5dff32422d AP_NavEKF2: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Andrew Tridgell 5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Peter Barker d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Peter Barker 400ba7a9df AP_NavEKF2: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell 7313e9eb0f AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell 39ba8a8c83 AP_NavEKF2: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell 7099bb6096 AP_NavEKF2: fixed gcc 9.3 build error 
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 16f7e51ea5 AP_NavEKF2: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell bec095d661 AP_NavEKF2: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell 6be3d19e82 AP_NavEKF2: 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
Andrew Tridgell 35e95d3328 AP_NavEKF2: reset body mag variances at key points 
reset on sensor switch or when changing to 3D fusion
 2020-09-20 09:25:57 +10:00
Andrew Tridgell d6dcbda0d3 AP_NavEKF2: removed duplicate compass switch check 
left over from last set of changes
 2020-09-20 09:25:57 +10:00
Paul Riseborough da7bb44a61 AP_NavEKF2: Consolidate magnetometer timeout checks 2020-09-08 11:01:14 +10:00
Andrew Tridgell 6b9e595602 AP_NavEKF2: fixed handling of failed compass 
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
Andrew Tridgell 83e5639225 AP_NavEKF2: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
Peter Barker 032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 83dc46d539 AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Randy Mackay 989ffb79cd AP_NavEKF2: minor format fix 2020-06-19 13:46:52 +09:00
Randy Mackay 966d59a26d AP_NavEKF2: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
chobits e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Randy Mackay 6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
chobits dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Randy Mackay f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Andrew Tridgell c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell 3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Randy Mackay 8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Peter Barker 903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Peter Barker 369292f7f3 AP_NavEKF2: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Andrew Tridgell fce4d6952f AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Peter Barker 99689f65f8 AP_NavEKF2: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker 9735684184 AP_NavEKF2: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00