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357 Commits

Author SHA1 Message Date
Randy Mackay
66a9093cd0 AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data 2016-11-30 17:56:51 +09:00
priseborough
0ec8f0932a AP_NavEKF2: Prevent output of NaN's in range beacon debug output 
This can happen if this accessor function is called before the EKF states are initialised
 2016-11-30 17:56:50 +09:00
Randy Mackay
fbecda7eeb AP_NavEKF2: change order of variable initialisation 
No functional change, this modifies the init order to match the declaration order.
 2016-11-30 17:56:49 +09:00
Randy Mackay
82854953e7 AP_NavEKF2: minor comment fix 2016-11-30 17:56:48 +09:00
Randy Mackay
14a73e499a AP_NavEKF2: initialise two range beacon structures 2016-11-30 17:56:47 +09:00
priseborough
2ee8250807 AP_NavEKF2: Changes from code review by @muramura 2016-11-30 17:56:46 +09:00
Randy Mackay
1f4606e48a AP_NavEKF2: protect against null beacon 2016-11-30 17:56:45 +09:00
Randy Mackay
51ccfca31c AP_NavEKF2: fix format of statustext for beacon init 2016-11-30 17:56:44 +09:00
priseborough
ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
priseborough
0a177d04fd AP_NavEKF2: Simply core switch implementation 
Functionally equivalent
 2016-11-24 19:58:10 +09:00
priseborough
7d48054e6f AP_NavEKF2: Group GPS innovation tests when compiling error score 2016-11-24 19:58:07 +09:00
Randy Mackay
e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +09:00
priseborough
0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough
f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-11-24 19:57:45 +09:00
priseborough
e62863f9a1 AP_NavEKF2: Reduce unnecessary EKF core switching 
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
 2016-11-24 19:57:41 +09:00
murata
c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Andrew Tridgell
82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2 
we don't need to copy that vector3f for every sample. A uint8_t does
the job
 2016-10-27 17:09:06 +11:00
priseborough
c93c3d54f3 AP_NavEKF2: Don't correct for zero IMU position offset 
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
 2016-10-27 14:54:44 +11:00
priseborough
1890bbdafa AP_NavEKF2: Don't correct GPS for zero position offset 2016-10-27 14:54:44 +11:00
priseborough
f025c96e63 AP_NavEKF2: Don't correct range finder for zero position offset 2016-10-27 14:54:43 +11:00
priseborough
9a0ce1d5eb AP_NavEKF2: Don't correct flow sensor for zero position offset 2016-10-27 14:54:43 +11:00
priseborough
b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough
13ca62b1c7 AP_NavEKF2: Correct velocity and position outputs for IMU offset 
This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
 2016-10-27 14:54:43 +11:00
priseborough
21dcf42c27 AP_NavEKF2: Add missing documentation 2016-10-27 14:54:43 +11:00
priseborough
8922861359 AP_NavEKF2: Correct optical flow data for sensor position offset 
Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
 2016-10-27 14:54:43 +11:00
priseborough
16f021c466 AP_NavEKF2: Correct range finder data for body frame position offset 2016-10-27 14:54:43 +11:00
priseborough
e884e9cc6e AP_NavEKF2: Correct GPS data for antenna body frame offset 2016-10-27 14:54:43 +11:00
priseborough
064a106808 AP_NavEKF2: Get IMU accelerometer body position offset data 2016-10-27 14:54:42 +11:00
priseborough
397033b7c3 AP_NavEKF2: Add flow sensor body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough
92c086b40e AP_NavEKF2: Add rangefinder body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough
3148ad4623 AP_NavEKF2: Add GPS antenna position offset data to data buffer 2016-10-27 14:54:42 +11:00
priseborough
fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 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
9779511425 AP_NavEKF2: Fix bug in median filter code 2016-10-19 19:45:00 +09:00
Jonathan Challinger
dac59cb5da AP_NavEKF2: use exact matrix for trim rotation 2016-10-13 10:02:14 +11:00
priseborough
5d09c78f34 AP_NavEKF2: Always perform optical flow takeoff check when receiving data 
A specialised takeoff check is now always performed when we receive new flow data as the default behaviour is to try and use flow data whenever it is received, rather than limit its use to a use to a flow-only mode of operation that had to be selected via user parameter.
 2016-10-10 14:49:48 +09:00
priseborough
a75a383ef2 AP_NavEKF2: Update protection for out of focus flow data 2016-10-10 14:49:41 +09:00
priseborough
635826c056 AP_NavEKF2: Fix reporting of terrain estimator innovations 
Terrain height is relevant whenever optical flow data is present
 2016-10-10 14:49:35 +09:00
priseborough
b0072b587c AP_NavEKF2: fix reporting of optical flow use status 2016-10-10 14:49:24 +09:00
priseborough
ed9ecb28fb AP_NavEKF2: Enable entry into relative position mode on start-up 2016-10-10 14:49:21 +09:00
priseborough
e0b8c54194 AP_NavEKF: Update GPS type parameter description 2016-10-10 14:49:18 +09:00
priseborough
f9018fcc1b AP_NavEKF2: Enable simultaneous optical flow and GPS use 
Enables simultaneous use of GPS and optical flow data with automatic fallback to relative position mode if GPS is lost and automatic switch-up to absolute position status if GPS gained/re-gained.
 2016-10-10 14:49:02 +09:00
priseborough
ab55991b33 AP_NavEKF2: Report position jumps due to lane switches 
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
 2016-10-10 11:56:14 +09:00
Francisco Ferreira
42cd8e9721 AP_NavEKF2: Handle yaw jumps due to core switches 
Based on work from Paul Riseborough (priseborough)
 2016-09-25 18:24:11 -07:00
Francisco Ferreira
8da22e441b Revert 3 commits about yaw reset core switch 
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.

Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.

Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
 2016-09-25 18:24:11 -07:00
Randy Mackay
2ebb81b02f AP_NavEKF2: switching compass message to GCS downgraded to INFO 2016-09-21 21:42:44 +09:00
priseborough
b6867e085d AP_NavEKF2: Don't report range finder variance on mavlink if not required 2016-09-21 10:41:21 +09:00
priseborough
cb1d3c7ed2 AP_NavEKF2: Allow for terrain gradient when using range finder for height 2016-09-13 17:45:03 +09:00
priseborough
60d8adcca0 AP_NavEKF2: Fix height drift on ground using range finder without GPS 2016-09-13 17:44:59 +09:00
priseborough
8797714203 AP_NavEKF2: Fix bug in handling of invalid range finder data 2016-09-13 17:44:43 +09:00