60c2e81d19
AP_NavEKF2: Apply optimisations to declination fusion covariance update
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These are the same type of optimisations that were successful with the magnetometer fusion
2015-10-20 15:21:41 +11:00
0054291cf4
AP_NavEKF2: Apply optimisations to side-slip fusion covariance update
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These are the same optimisations that were successful with the magnetometer fusion
2015-10-20 15:21:40 +11:00
5e4bc4e954
AP_NavEKF2: Apply optimisations to airspeed fusion covariance update
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These are the same optimisations that were successful with the magnetometer fusion
2015-10-20 15:21:40 +11:00
a29147d6d2
AP_NavEKF2: Apply optimisations to optical flow covariance update
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These are the same optimisations that were successful with the magnetometer fusion
2015-10-20 15:21:40 +11:00
b5e43288d4
AP_NavEKF2: Down to 12 from 14 usec for perf test[8]
2015-10-20 15:21:40 +11:00
0f530bb5a0
AP_NavEKF2: Correct comments
2015-10-20 15:21:40 +11:00
d1dfd5fd01
AP_NavEKF2: use common header for optimisation level and irq disable
2015-10-20 15:21:40 +11:00
a017ae7e00
AP_NavEKF2: down to 218us for test[9]
2015-10-20 15:21:40 +11:00
fc23be8025
AP_NavEKF2: enable fine grained perf tuning for mag fusion
2015-10-20 15:21:40 +11:00
b6c1352e4c
AP_NavEKF2: added 10 test perf counters
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used for fine grained performance tuning
2015-10-20 15:21:40 +11:00
824436dfb6
AP_NavEKF2: Explicitly define constants as floats
2015-10-20 15:21:40 +11:00
2fbd050418
AP_NavEKF2: Use blended accelerometer data
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If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
2015-10-20 15:21:40 +11:00
240ea92947
AP_NavEKF: Re-center gyro bias limits on arming
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Allows the gyro bias to vary by up to +-10 deg/second before and after arming.
2015-10-20 15:21:39 +11:00
8515dda727
AP_NavEKF: Fix bug in vertical position derivative calculation
2015-10-20 15:21:39 +11:00
2b13020c19
AP_NavEKF2: Fix bug in vertical position derivative calculation
2015-10-20 15:21:39 +11:00
f6ad79688e
AP_NavEKF2: Update start sequence console messages
2015-10-20 15:21:39 +11:00
6b3e114cd6
AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs
2015-10-20 15:21:39 +11:00
1a1236f764
AP_NavEKF2: Update magnetometer fusion documentation
2015-10-20 15:21:39 +11:00
8526a8ba7e
AP_NavEKF2: Level processor loading between frames
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Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
2015-10-20 15:21:39 +11:00
225b81baf4
AP_NavEKF2: Prevent users breaking filter by setting excessive time delays
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If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
2015-10-20 15:21:39 +11:00
a1d6c7ae1e
AP_NavEKF2: Improve timing accuracy
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This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
2015-10-20 15:21:39 +11:00
e0ed2dab63
AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates
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The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
2015-10-20 15:21:39 +11:00
baa8692960
AP_NavEKF2: Allow use of magnetometer learning during optical flow nav
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Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
2015-10-20 15:21:38 +11:00
1b8a93ef0c
AP_NavEKF2: Update function header comments
2015-10-20 15:21:38 +11:00
6899767d28
AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference
2015-10-20 15:21:38 +11:00
75a61df627
Copter: Enable access to EKF2 height tuning
2015-10-20 15:21:38 +11:00
d0aba09503
Copter: Access EKF healthy through AHRS object
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Enables EKF2 use
2015-10-20 15:21:38 +11:00
19785c1033
Copter: Access EKF origin through AHRS object
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Enables EKF2 use
2015-10-20 15:21:38 +11:00
7c6b31b585
Copter: Access EKF variance checks through AHRS object
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Supports flight using EKF2
2015-10-20 15:21:38 +11:00
0722ebe8a0
AP_AHRS: Add EKF variance checks
2015-10-20 15:21:38 +11:00
242b9641c8
AP_NavEKF2: Fix in-air logic bug
2015-10-20 15:21:38 +11:00
e7de2d3ea3
AP_NavEKF: Update magnetic field learning options
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Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
2015-10-20 15:21:38 +11:00
495809f211
AP_NavEKF2: Allow magnetic field learning to be faster
2015-10-20 15:21:38 +11:00
84a02efd52
AP_NavEKF2: Improve efficiency of Z magnetometer fusion
2015-10-20 15:21:37 +11:00
35b08849f7
AP_NavEKF2: Reduce effect of rounding errors on covariance prediction
2015-10-20 15:21:37 +11:00
4e928bf294
AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements
2015-10-20 15:21:37 +11:00
71c399674a
AP_NavEKF2: Delay use of magnetic field states until off-ground
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Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
2015-10-20 15:21:37 +11:00
99c2dc41e0
AP_NavEKF2: Miscellaneous tuning changes
2015-10-20 15:21:37 +11:00
2d44441d6b
DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
ae830b44c4
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
840f307d58
AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
1323db10e8
DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
e8037f94ad
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review
2015-10-20 15:21:37 +11:00
47ae0f35f6
AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
f63c32531c
AP_InertialNav: Address peer review comments
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The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
2015-10-20 15:21:36 +11:00
58d57994f4
AP_AHRS: Rectify coding errors found during peer review
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Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
2015-10-20 15:21:36 +11:00
27393855f1
AP_NavEKF2: Change assumed gyro calibration accuracy
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If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
2015-10-20 15:21:36 +11:00
67a669fcdc
AP_NavEKF2: Correct comments for height measurement
2015-10-20 15:21:36 +11:00
0dc570b5a5
AP_NavEKF2: Improve optical flow takeoff detection logic
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Ensure takeoff detect status goes to false when on ground
2015-10-20 15:21:36 +11:00
d3a6690e4f
AP_NavEKF2: Fix bugs preventing use of optical flow navigation
2015-10-20 15:21:36 +11:00
Paul Riseborough
Andrew Tridgell