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744 Commits

Author SHA1 Message Date
Andrew Tridgell 52cb59e61d AP_NavEKF3: handle core setup failure 
ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
 2023-05-08 16:28:08 +10:00
Peter Barker ce8afaf57b AP_NavEKF3: use quat.to_euler(Vector3f&) 2023-04-19 14:24:45 +10:00
Peter Barker 5d68f44694 AP_NavEKF3: move beacon variables into structure 
AP_NavEKF3: change beacon variable names
 2023-04-18 09:28:02 +10:00
Paul Riseborough 5ab17496f6 AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-17 08:48:03 +10:00
Paul Riseborough 7063b385cf AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-17 08:48:03 +10:00
Paul Riseborough a25aa8d2ac AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-04-04 09:22:23 +10:00
bugobliterator deeeb4134c AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask 2023-03-21 10:04:16 +11:00
Peter Barker 2af6a05fa2 AP_NavEKF3: include writeWheelOdom symbol even if no body-odom 
like the method above it, we need this symbol or we won't compile
 2023-02-11 10:36:33 +11:00
Peter Barker 35a5a73f52 AP_NavEKF3: 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
Iampete1 16b1bd8b9a AP_NavEKF3: pre-arm return failure message for correct core 2023-01-31 13:36:56 +11:00
Peter Barker 8a312d4f34 AP_NavEKF3: use classes to fix MATH_CHECK_INDEXES 2023-01-25 19:58:54 +11:00
Peter Barker 7f4c5a9a84 AP_NavEKF3: tidy variable declarations 2023-01-25 19:58:54 +11:00
Peter Barker da95985dd7 AP_NavEKF3: remove mag_state state 
we don't need to persist this across multiple calls as we now fuse all axes on the one step.

I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
 2023-01-25 19:58:54 +11:00
Peter Barker 063a041d22 AP_NavEKF3: add trailing comma to AidingMode enum, reindent same 2023-01-25 19:50:34 +11:00
Peter Barker b716793a0e AP_NavEKF3: remove duplicated lines in parameter metadata 2022-12-28 13:21:18 +11:00
Andrew Tridgell 8bf8d4889a AP_NavEKF3: added get_enable() 2022-12-20 10:34:22 +11:00
Tatsuya Yamaguchi 366a325fc0 AP_NavEKF3: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1 2022-12-20 10:05:24 +11:00
Andy Piper e4b8d8a9b6 AP_NavEKF3: ensure wind estimation from airspeed can be used on its own 2022-12-14 19:19:58 +11:00
Stephen Dade abcacec25f AP_NavEKF3: Add support for fixed height optical flow 2022-12-01 08:03:47 +09:00
Paul Riseborough 33349ed92a AP_NavEKF3: Prevent on ground range to ground being used in flight 2022-11-22 11:23:44 +11:00
Paul Riseborough 2228937536 AP_NavEKF3: Don't allow range finder use to start if terrain state is stale 2022-11-22 11:23:44 +11:00
Peter Barker 5cb6906968 AP_NavEKF3: add and use AP_BEACON_ENABLED 2022-11-16 08:16:31 +11:00
Peter Barker 806b2708c1 AP_NavEKF3: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell 92f25150f6 AP_NavEKF3: fixed getLLH alt for local origin height 
this fixes a bug introduced in #21834

this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH

this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry

fixes #21984
 2022-10-23 11:23:48 +11:00
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
Andrew Tridgell 17d9018a91 AP_NavEKF3: fixed EKF3 origin alt inconsistency 
always use common origin, and adjust output posD for difference
between public and local lane origin heights
 2022-09-30 07:44:42 +10:00
Paul Riseborough 481bec5ff5 AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed 2022-09-26 14:17:53 +10:00
Paul Riseborough 399f30bfce AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor 2022-09-26 14:17:53 +10:00
Paul Riseborough eb0e9230a1 AP_NavEKF3: Add accessor function for airspeed health monitoring 2022-09-26 14:17:53 +10:00
Paul Riseborough 608b4c0713 AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors 
Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
 2022-09-26 14:17:53 +10:00
Peter Barker 0665f9c32b AP_NavEKF3: store and use lastKnownPositionD 
When returning our last-known-position we were supplying lat/lng but not
altitude.

This usually really doesn't matter as this result generally isn't used,
especially for altitude.  OTOH, it may prevent a bug into the future.
 2022-08-22 19:48:03 +10:00
nrt 0c65cd1b47 AP_NavEKF3: added a getter function to infer the source index used by ekf3 2022-08-18 02:05:27 -04:00
Peter Barker 1b13dd053b AP_NavEKF3: use send_mesage for sending status report 2022-08-16 09:45:51 +10:00
Peter Barker 0443c8561b AP_NavEKF3: stop using GCS_MAVLINK.h in header files 
... by passing through a reference to a link object instead
 2022-08-16 09:45:51 +10:00
Tamas Nepusz 8959d35b91 AP_NavEKF3: add EK3_GPS_VACC_MAX as a threshold that decides whether to use GPS as altitude source depending on vAcc 2022-08-03 17:57:05 +10:00
Henry Wurzburg b7f49db1f7 AP_NavEKF3: Add streaming log verbosity level parameter 2022-08-02 10:21:39 +10:00
Iampete1 cf14e741ee AP_NavEKF3: only include log struture if enabled 2022-07-13 18:14:12 +10:00
Andrew Tridgell e2a83ba428 AP_NavEKF3: fixed undefined behaviour in logging 2022-07-12 11:00:08 +10:00
Pierre Kancir 21890000f7 AP_NavEKF3: fix python files exec permissions 2022-06-08 08:16:42 +09:00
Andrew Tridgell d5670ace3b AP_NavEKF3: fixed use of configured() vs configured_in_storage() 2022-06-06 13:11:50 +10:00
Andrew Tridgell 74c4f3c9a9 AP_NavEKF3: log set source events 2022-05-31 09:17:37 +10:00
Randy Mackay eafb118b47 AP_NavEKF3: set filter status dead_reckoning bit 2022-05-25 20:05:21 +09:00
Randy Mackay e37bf9ad53 AP_NavEKF3: drag fusion for att and velAiding 
also add dragTimeout
 2022-05-25 20:05:21 +09:00
Randy Mackay 61c4643aed AP_NavEKF3: minor comment fix 2022-05-25 20:05:21 +09:00
Ruffalo-sunghwan 5a4d61e3a4 AP_NavEKF3 : correct comment spelling 2022-05-24 20:27:45 +09:00
Randy Mackay e0023a99bc AP_NavEKF3: replace AP_HAL::millis() with dal.millis() 2022-05-18 17:59:57 +10:00
Randy Mackay 37e9ce3fb7 AP_NavEKF3: correct wind estimate param descriptions 
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
 2022-04-13 07:57:35 +09:00
Peter Barker 0b16c4063e AP_NavEKF3: 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
Peter Barker adf9c21d48 AP_NavEKF3: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Peter Barker df4911cbcb AP_NavEKF3: avoid direct use of Location alt field 2022-03-22 10:33:37 +11:00
Andrew Tridgell a4da65ea05 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-01 17:06:44 +09:00
Henry Wurzburg 0f05cb06fa AP_NavEKF3: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Randy Mackay 0c7ad9511f AP_NavEKF3: FuseOptFlow only calculates range and velocity once 
was unnecessarily recalculating these values before fusion
 2022-02-09 08:42:29 +09:00
Andrew Tridgell 9dcff1a23f AP_NavEKF3: set rejecting_airspeed flag 
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
 2022-02-07 14:13:49 +11:00
Randy Mackay cfcdc1e78f AP_NavEKF3: optflow terrain reset after 5sec 2022-02-02 18:04:43 +11:00
Randy Mackay e16a64383f AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration 2022-01-29 08:26:12 +09:00
Randy Mackay cff3794d25 AP_NavEKF3: minor spelling fixes 2022-01-17 11:30:47 +09:00
VMsunghwan db9c1bbfaf AP_NavEKF3 : correct typo 
receverPosDownMax -> receiverPosDownMax
receverPosDownMin -> receiverPosDownMin
calcuate -> calculate
 2022-01-17 11:25:56 +09:00
Hwurzburg 970e5f829b AP_NavEKF3: remove user unintelligible GCS message 2022-01-12 08:11:18 +11:00
Andrew Tridgell a33febd90a AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2021-12-28 16:03:47 +11:00
Paul Riseborough 5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Peter Barker 0cb4425eb9 AP_NavEKF3: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
Peter Barker 15ec2c9c40 AP_NavEKF3: allow boards to override NavEKF3 features 2021-12-14 11:12:50 +11:00
Andrew Tridgell 468444bef9 AP_NavEKF3: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Peter Barker 308f4e99b4 AP_NavEKF3: correct structure used for logging 
XKF4 and XKF5 are clones of NKF4 and NKF5, which is why this worked
 2021-12-03 15:34:21 +09:00
Josh Henderson a89f58a775 AP_NavEKF3: allow define for IMU_MASK_DEFAULT 2021-11-30 10:20:54 +11:00
Iampete1 e818decc39 AP_NavEKF3: update compass param discription 2021-11-30 08:14:43 +09:00
Andrew Tridgell 86c481b4b0 AP_NavEKF3: fixed switch to non-zero primary on disarm 
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
 2021-11-07 10:11:52 +11:00
Andrew Tridgell 282209e3e6 AP_NavEKF3: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Andy Piper bc0101e446 AP_NavEKF3: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Peter Barker 670663a741 AP_NavEKF3: allow hwdef to override IMU default 2021-10-16 10:26:29 +11:00
Gone4Dirt 0abfde0a7d AP_NavEKF3: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
Josh Henderson 67eb6d17eb AP_NavEKF3: initialize stateStruct.quat to unit length 2021-09-28 19:09:16 +10:00
Paul Riseborough c828bdfbc9 AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU 2021-09-23 18:55:28 +10:00
Paul Riseborough 8429c66860 AP_NavEKF3: Make subsequent bad IMU event detections faster 2021-09-23 18:55:28 +10:00
Paul Riseborough 458c67639d AP_NavEKF3: Force velocity state to follow GPS when IMU data is bad 2021-09-23 18:55:28 +10:00
Paul Riseborough c0d88e2673 AP_NavEKF3: Fix vertical velocity reset 
Fixes bug that prevents the vertical velocity being reset to the GPS if the position aiding has already timed out and improves sensitivity of the bad IMU data check.
 2021-09-23 18:55:28 +10:00
Paul Riseborough 17c2ba5ac1 AP_NavEKF3: Fix bug causing too frequent resets if bad IMU data detected 2021-09-23 18:55:28 +10:00
Peter Barker b66fd214f0 AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Paul Riseborough e9c339a0a0 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-21 17:16:36 +10:00
Josh Henderson 3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Peter Barker dabba69b5e AP_NavEKF3: improve description of XKF4/NKF4 fields 
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
 2021-09-08 17:06:12 +10:00
Randy Mackay 63e579d738 AP_NavEKF3: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 0edfd2634f AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay 85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay 11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay 914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay 5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
TunaLobster d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Andrew Tridgell 5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Pierre Kancir 8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Randy Mackay 2a2cde68ef AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-10 09:44:57 +10:00
Andrew Tridgell ff59e0f72f AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-09 19:19:21 +10:00
Randy Mackay 2f1444772b AP_NavEKF3: XKF3.IYAW logs in degrees 2021-08-09 08:10:42 +09:00
Randy Mackay d961186e0c AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-06 07:00:46 +09:00
Andrew Tridgell 8681ecebfd AP_NavEKF3: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker c34284b6eb AP_NavEKF3: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Paul Riseborough 17ead96250 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-22 18:20:45 +10:00