Commit Graph

57 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
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
Josh Henderson d5f5a3024a AP_NavEKF2: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Andrew Tridgell 6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Andrew Tridgell 32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Paul Riseborough 948650dbe5 AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
2021-03-02 07:28:24 +11:00
Andrew Tridgell 79148498d3 AP_NavEKF2: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
setting the parameter to 1 causes the following issues:

 - the GPS may not have vertical velocity at the time the parameter
   set happens, but may get it later when the GPS is fully configured

 - we may switch between GPS modules which do/don't have vertical
   velocity

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
2020-12-01 10:33:50 +11:00
Paul Riseborough e5e8d0ba3c AP_NavEKF2: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell 5b41d5541f AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection
as discussed with Paul
2020-11-10 16:15:45 +11:00
Andrew Tridgell 246a441883 AP_NavEKF2: cope with INS_MAX_INSTANCES below 3 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 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
Randy Mackay b2d4622320 AP_NavEKF2: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Andrew Tridgell 6ee527d3e0 AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Peter Barker 032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
Paul Riseborough ea4589ea94 AP_NavEKF2: Reset yaw estimator bias states at start of flight
Enables yaw bias to be learned when sitting stationary on ground.
2020-07-07 15:33:58 +10:00
Randy Mackay a8c2be26ba AP_NavEKF2: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Paul Riseborough 502b96f49c AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
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
Peter Hall 2970334c0d AP_NavEKF2: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Andrew Tridgell 9372073f63 AP_NavEKF2: continuously update gpsGoodToAlign
use it to determine how to handle a height datum reset
2019-07-07 19:20:32 +10:00
Andrew Tridgell ddef40fa3d AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Michael du Breuil 892b687c09 AP_NavEKF2: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Peter Barker 11f31c2851 AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Pierre Kancir 3f5a6a243c AP_NavEKF2: use get_distance instead of location_diff 2019-04-08 08:00:52 -07:00
Arjun Vinod 78b165e36f AP_NavEKF2: fixed typos 2019-02-26 08:33:39 +11:00
Arjun Vinod a0e7c37f8c AP_NavEKF2: fixed typos 2019-02-22 10:21:35 +11:00
Tom Pittenger b32e8a4424 AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 12:59:52 -08:00
murata 1e011c0c15 AP_NavEKF2: Clarify the message 2018-06-04 11:32:15 +09:00
Peter Barker 40957ec430 AP_NavEKF2: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 9c8466dc03 AP_NavEKF2: use GPS singleton 2017-12-27 00:58:02 +00:00
Peter Barker 5da3759ff4 AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Andrew Tridgell cbffc29f0b AP_NavEKF2: use AHRS likely flying state
this sets inFlight when AHRS has indicated flying for 5s
2017-06-20 09:44:44 +10:00
priseborough 647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
2017-06-19 06:09:07 +10:00
Michael du Breuil 8b69f1708e NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF 2017-02-22 11:53:42 -08:00
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 e6f36f04db AP_NavEKF2: Enable automatic use of range finder height
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
2016-08-08 10:56:44 +09:00
priseborough e34cdc6666 AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
2016-07-19 12:16:50 +10:00
Paul Riseborough dc6836988c AP_NavEKF2: Improve ground based magnetic anomaly protection for copter
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
2016-06-28 14:20:12 +10:00
Paul Riseborough 26815ace7a AP_NavEKF2: Remove redundant logic check 2016-06-28 14:20:12 +10:00
Paul Riseborough 24d8cc62e2 AP_NavEKF2: rework yaw and magnetic heading reset logic
Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
2016-05-31 16:12:53 +10:00
Paul Riseborough cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
2016-05-21 15:13:52 +10:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Andrew Tridgell 9c4dd024bf AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA
this fixes a problem where users of NMEA GPS receivers could not arm
with default EK2 parameters.
2016-05-05 19:46:33 +10:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
Paul Riseborough 04228e0b3b AP_NavEKF2: Rework selection of height measurements for fusion
GPS height has been added as a measurement option along with range finder and baro
Selection of the height measurement source has been moved into a separate function
Each height source is assigned its own measurement noise
If GPS or baro alt is not able to be used, it reverts to baro
When baro is not being used, an offset is continually calculated which enables a switch to baro without a height step.
2015-11-18 11:18:42 +11:00
Paul Riseborough 6522fb2621 AP_NavEKF2: Allow user to relax pre-flight GPS checks 2015-11-12 20:39:15 +11:00
Andrew Tridgell 2ab2afc86a AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs
no voting between multiple IMUs yet
2015-11-06 10:42:58 +11:00
Paul Riseborough b6d63d4b4e AP_NavEKF2: Fix reporting of pre-flight GPS checks
Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
2015-11-02 14:12:16 +11:00
Paul Riseborough 5533a9a149 AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion 2015-10-30 15:34:23 +09:00