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45,067 Commits 71 Branches 510 Tags 771 MiB
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Commit Graph

692 Commits

Author SHA1 Message Date
Randy Mackay
000a2b17c3 AP_NavEKF_Source: remove unused setVelZSource 2020-12-05 08:30:55 +09:00
Randy Mackay
7f15b7b126 AP_NavEKF_Source: prearm check of wheelencoders 2020-12-01 14:01:17 +09:00
Andrew Tridgell
4fdbbd8984 AP_NavEKF: added functions to see if a nav source is enabled 
this allows us to avoid initialising ring buffers when not needed
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
ab917ed92e AP_NavEKF: add more protections on ring buffer code 
declare an internal error if we try to access an element when not
initialised
 2020-12-01 10:53:08 +11:00
Peter Barker
fdbffd19c6 AP_NavEKF_Source: remove defaults for baro and compass 
This makes all our defaults "NONE", meaning that a user will not see a
prearm failure for any source other than those in the primary set when
using the default configuration.
 2020-11-25 15:19:00 +11:00
Peter Barker
8124c3fea8 AP_NavEKF_Source: set compass_required if we require a compass 2020-11-25 15:19:00 +11:00
Randy Mackay
6c3948f417 AP_NavEKF_Source: optimise configured_in_storage 
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
 2020-11-24 12:10:27 +11:00
Andrew Tridgell
fe81387433 AP_NavEKF: allow init twice 
this can happen if setup_core() fails with low mem and is called again
 2020-11-20 21:56:32 +11:00
Andrew Tridgell
e4a9497942 AP_NavEKF: added common EKF buffer classes 2020-11-20 21:56:32 +11:00
Randy Mackay
0119c48e1e AP_NavEKF_Source: add mark_configured_in_storage 2020-11-20 16:43:44 +09:00
Randy Mackay
50b2cf136f AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities) 2020-11-20 16:43:44 +09:00
Randy Mackay
9b84abecaa AP_NavEKF_Source: enables dynamically changing sensor sources 2020-11-20 16:43:44 +09:00
Paul Riseborough
78e10e99f5 AP_NavEKF: Add accessor for yaw estimator velocity innovation length 2020-11-16 16:01:13 +11:00
Andrew Tridgell
97a2c5a576 AP_NavEKF: removed Log_EKF_Timing 
not needed for new replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Peter Barker
3a8751d8a7 AP_NavEKF: remove unused variables 2020-10-01 21:13:20 +10:00
Paul Riseborough
5ad5498b07 AP_NavEKF: Enable external setting of yaw estimator bias states 2020-07-07 15:33:58 +10:00
Paul Riseborough
709a42cb7f AP_NavEKF: remove unnecessary memcopy 2020-07-07 15:33:58 +10:00
Paul Riseborough
4a743a3827 AP_NavEKF: Remove unnecessary reset operations and class variables 
The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
0ce4dd457d AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Randy Mackay
a43beaaa23 AP_NavEKF: GSF white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
1ee9f3a6de AP_NavEKF: GSF getLogData and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Paul Riseborough
51b62a34b9 AP_NavEKF: Use better type for array index 2020-04-24 09:43:23 +10:00
Paul Riseborough
6bb7c55bba AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter 
AP_NavEKF: Simplify centripetal accel correction
 2020-04-24 09:43:22 +10:00
Rishabh
b0134460e5 AP_NavEKF:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker
051a7dc298 AP_NavEKF: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Peter Hall
9ec5355dfc AP_NavEKF: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Barker
0da27417bc AP_NavEKF: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell
f79907bd1e AP_NavEKF: fixed build with vector index checking 2019-10-01 15:39:03 +10:00
Andrew Tridgell
688b01c6c6 AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes 
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:

 - the compiler can determine the address of the frequently accessed
   variables at compile time, making them faster

 - by sharing between EK2 and EK3 we save a lot of memory if both EK2
   and EK3 are enabled

 - we can fill all these with NaN in SITL on every loop, which allows
   us to catch cases where the variables are ever re-used between
   loops, which guarantees we aren't mixing data between EKF lanes or
   between EK2 and EK3
 2019-10-01 15:39:03 +10:00
Peter Barker
9e0f525f69 AP_NavEKF: move logging in from AP_Logger 2019-09-03 09:28:37 +10:00
Andrew Tridgell
103d1aea41 AP_NavEKF: added gps_quality_good EKF flag 2018-07-14 17:49:52 +10:00
Michael du Breuil
ac9d5f8a5c AP_NavEKF: Make the status unions use bool, add static asserts 2018-04-11 09:47:43 +09:00
priseborough
6a91b294b4 AP_NavEKF: Clarify definition for gps_glitching flag 2018-03-27 20:28:54 +09:00
priseborough
7d777485d8 AP_NavEKF: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
Andrew Tridgell
ae3df89d17 AP_NavEKF: added ekf_timing structure 2017-04-28 17:19:39 +10:00
Michael du Breuil
61023fc636 NavEKF: Add GPS vertical accuracy to nav_gps_flags 2017-02-22 11:53:42 -08:00
priseborough
bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
Pierre Kancir
f54cf6e097 AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
murata
de153ce1d7 AP_NavEKF: Correct the setting process of variable dAngBiasSigma. 2016-11-24 03:24:18 +00:00
murata
ec42ddfb4e AP_NavEKF: style changes (tab to spaces, etc.) 
AP_NavEKF: style changes (tab to spaces, etc.)

AP_NavEKF: style changes (tab to spaces, etc.)
 2016-11-24 03:24:18 +00:00
Andrew Tridgell
a05d216ce4 AP_NavEKF: make posOffset const ref for optflow 2016-10-27 15:45:40 +11:00
priseborough
b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough
8160eca47e AP_NavEKF: update flow sensor interface 
Adds a position offset which is not used by the backend
 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
priseborough
d0ba259d0d AP_NavEKF: Fix bug in median filter code 2016-10-19 19:44:58 +09:00
Jonathan Challinger
3eba985afd AP_NavEKF: use exact matrix for trim rotation 2016-10-13 10:02:13 +11:00
Tom Pittenger
e63e7a5336 AP_NavEKF: comment that param "Enable" index is moved to top 2016-08-04 11:32:46 -07:00
priseborough
b3bfb71431 AP_NavEKF: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough
487bbc3ed2 AP_NavEKF: Fix reporting of position status 
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
 2016-07-19 12:16:48 +10:00
Paul Riseborough
d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00