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Commit Graph

53 Commits

Author SHA1 Message Date
Peter Barker
6693610c7a AP_NavEKF3: correct return of empty prearm string 2019-09-22 21:09:04 +10:00
Michael du Breuil
9a7d64e8fc AP_NavEKF3: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Andrew Tridgell
451fe840ee AP_NavEKF3: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
b56914b879 AP_NavEKF3: use GPS yaw if available and enabled 
this allows a suitable GPS to be used as an external yaw source
 2019-07-13 11:05:57 +10:00
priseborough
977a7b68ed AP_NavEKF3: Add push to buffer for external yaw sensor data 2019-07-13 11:05:57 +10:00
priseborough
87c7649d09 AP_NavEKF3: Add interface for yaw angle measurements 2019-07-13 11:05:57 +10:00
Andrew Tridgell
634db441f8 AP_NavEKF3: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell
f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
209bca162c AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-07 19:03:01 +10:00
Peter Barker
ef2589738d AP_NavEKF3: use beacon singleton 2019-07-01 07:20:58 +09:00
Michael du Breuil
b624f6f008 AP_NavEKF3: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Peter Barker
dce472745e AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Pierre Kancir
b3a1c9c90c AP_NavEKF3: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Arjun Vinod
f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger
55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Andrew Tridgell
39ffef1f08 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 13:04:52 +11:00
Andrew Tridgell
de58fb4637 AP_NavEKF3: support in-flight compass learning 2018-10-24 07:25:42 +10:00
Peter Barker
be9235a581 AP_NavEKF3: fix writeOptFlowMeas signature 
const some of the vectors, stop taking references to scalars that aren't
being changed
 2018-09-11 09:03:22 +10:00
Pierre Kancir
48c5a9b9c5 AP_NavEKF3: style change in BCN mesurements 2018-04-03 09:54:43 +09:00
Peter Barker
55b8a2288e AP_NavEKF3: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker
7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
Paul Riseborough
6a1055389d AP_NavEKF3: Fix origin height estimator indexing bug 
EKF3 should use index 9 to access vertical position states
 2018-02-21 17:04:30 +10:00
Peter Barker
5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
Peter Barker
63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough
2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough
db7c8439c6 AP_NavEKF3: Fix bug in wheel odometry timestamp correction 2017-07-28 12:48:38 +09:00
priseborough
c7f6d52065 AP_NavEKF3: Add wheel encoder odometry 
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
 2017-07-27 16:52:27 +09:00
priseborough
593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error 
Also adjust default values based on replay analysis.
 2017-07-27 16:52:25 +09:00
Peter Barker
93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
priseborough
2a9eceaf10 AP_NavEKF3: Fix bugs causing height drift when using range beacons 2017-06-23 00:43:58 +01:00
priseborough
7d63286088 AP_NavEKF3: update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough
628d140319 AP_NavEKF3: Make target covariance time step larger 
The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
 2017-06-14 12:44:41 +01:00
priseborough
9da3caca47 AP_NavEKF3: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
23b7f1e645 AP_NavEKF3: Improve comments, typos 2017-05-03 08:45:01 +09:00
priseborough
4a898037e9 AP_NavEKF3: documentation update 2017-05-01 14:24:55 +10:00
Andrew Tridgell
a04aff7a7d AP_NavEKF3: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
priseborough
0bf50fd56f AP_NavEKF3: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough
3ce81967ae AP_NavEKF3: Improve calculation and use of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough
7abf9997e6 AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF 2017-04-29 11:03:44 +10:00
Andrew Tridgell
adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
priseborough
fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Randy Mackay
3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
priseborough
e399f57ffa AP_NavEKF3: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough
2e5ac40ef6 AP_NavEKF3: remove unnecessary stdio includes 2017-01-27 16:57:42 +09:00
priseborough
7e8f3fca53 AP_NavEKF3: Address review comments 
Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
 2017-01-27 16:57:42 +09:00
priseborough
b723966b8d AP_NavEKF2: Add protection against bad GPS time delay values 
Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.
 2017-01-27 16:57:42 +09:00
priseborough
b862f0d7ad AP_NavEKF3: Enable use of GPS delay value from returned by the driver 
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
 2017-01-27 16:57:42 +09:00
priseborough
a8fd1d8bcd AP_NavEKF3: fix potential time-stamping bug 
Use a consistent time reference
 2017-01-27 16:57:42 +09:00
priseborough
8d1733cee6 AP_NavEKF3: Use FIR filtered airspeed 
Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
 2017-01-27 16:57:42 +09:00