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69d4bd2481
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546 Commits

Author SHA1 Message Date
Paul Riseborough
69d4bd2481 AP_NavEKF: Protect against baro data errors in constant position mode 
Large baro data errors when flying without GPS could cause total failure of the EKF.
This patch provides protection against this happening in-flight but allows for large innovations during preflight alignment.
 2015-11-02 17:46:55 +09:00
Paul Riseborough
778b1c3e18 AP_NavEKF: Remove dead code for constant velocity mode 2015-11-02 17:46:54 +09:00
Paul Riseborough
fb8e01a73c AP_NavEKF: Do not automatically accept DCM alignment data after 30 seconds 
A looser check is applied at 30 seconds rather than no check.
 2015-11-02 17:46:53 +09:00
Paul Riseborough
be11e12f81 AP_NavEKF: Improve height reset during climbs and descents 
Resets the vertical velocity to the GPS when the height is reset is the GPS is healthy
 2015-11-02 17:46:53 +09:00
Paul Riseborough
59df23bc0f AP_NavEKF: Reduce EKF health pre-arm check false positives 2015-11-02 17:46:52 +09:00
Paul Riseborough
a1e32d71ec AP_NavEKF: Prevent large rotation rates corrupting the in-flight mag reset 2015-10-30 15:34:14 +09:00
Lucas De Marchi
831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Randy Mackay
3f29365cae AP_NavEKF: constify getLastPosNorthEastReset 2015-10-30 12:24:15 +09:00
Randy Mackay
758c5a7d7f AP_NavEKF: constify getLastYawResetAngle 2015-10-30 12:24:11 +09:00
Paul Riseborough
7c40448bab AP_NavEKF: Remove GPS glitch offset logic 
The correction for offsets due to position and velocity resets will now be handled in the control loops.
 2015-10-30 12:24:01 +09:00
Paul Riseborough
5489ff9118 AP_NavEKF: publish position and velocity state reset data 
Used by the control loops to compensate for steps in velocity and/or position resulting from state resets.
 2015-10-30 12:24:00 +09:00
Paul Riseborough
44f42fe72d AP_NavEK: Reduce settling time after start-up disturbance 
Now that we are using  a consistent 50Hz minimum update rate for the covariance prediction we do not need a different initial gyro bias uncertainty for plane and copter to maintain filter stability margins.
The default value of 0.1 rad/s was too high and gave excessive settling time of the filter attitude after startup.
The initial attitude uncertainty has been increased to allow for some movement during startup.
 2015-10-22 16:23:14 +11:00
Paul Riseborough
6c017ffcb5 AP_NavEKF: Predict covariance more often to prevent instability on startup 
If the baro data and magnetometer data are interleaved (arriving every 100 msec and offset by 50 msec), then the filter will go unstable during startup and fail to complete checks.
 2015-10-22 09:57:38 +09:00
Andrew Tridgell
f66966ccae NavEKF: use new perf counter API 2015-10-20 18:16:15 +11:00
Paul Riseborough
240ea92947 AP_NavEKF: Re-center gyro bias limits on arming 
Allows the gyro bias to vary by up to +-10 deg/second before and after arming.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
8515dda727 AP_NavEKF: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough
6b3e114cd6 AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs 2015-10-20 15:21:39 +11:00
Paul Riseborough
840f307d58 AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Andrew Tridgell
f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS 
this helps with performance tuning
 2015-10-20 14:37:41 +11:00
Andrew Tridgell
10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell
6f36267a66 AP_NavEKF: fixed EKF error message during 10 second warmup 2015-10-16 14:58:46 +11:00
Gustavo Jose de Sousa
afccf615d5 AP_NavEKF: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:03 +09:00
Paul Riseborough
3479a0e209 AP_NavEKF: Prevent blocking of synthetic position fusion 
Fixes a potential error where changes to timing and arrival rate of magnetometer and baro data could block the fusion of synthetic position and velocity measurements, allowing unrestrained tilt errors during operation without GPS or optical flow.
Fusion of synthetic position or velocity measurements is now timed to coincide with fusion of barometer observations.
If a new barometer observation has not arrived after 200 msec then the synthetic position or velocity is fused anyway so that fusion of synthetic position or velocity observations cannot occur any slower than 5 Hz
 2015-10-13 14:05:36 +09:00
Paul Riseborough
a895b16fa6 AP_NavEKF: Prevent GPS glitch activating EKF failsafe 2015-10-12 16:29:21 +09:00
Paul Riseborough
f451a81ef9 AP_NavEKF: Add missing GPs check report 2015-10-10 21:22:49 +09:00
Paul Riseborough
a3a1dabb94 AP_NavEKF: Update GPS check description and default setting 
Previous check default only checked the number of satellites and horizontal position accuracy.
Updated default value also checks HDoP and speed accuracy.
 2015-10-10 21:21:25 +09:00
Paul Riseborough
ef5049862a AP_NavEKF: Add fix status to GPS check report message 2015-10-10 14:49:05 +09:00
Paul Riseborough
5177746c00 AP_NavEKF: Add reporting of GPS check status 2015-10-10 14:49:01 +09:00
Paul Riseborough
2b0434f089 AP_NavEKF: Improved detection of GPS glitch behaviour 2015-10-08 15:09:45 +09:00
Paul Riseborough
d48d4ac950 AP_NavEKF: Add GPS glitching monitor to EKF status report 2015-10-08 15:09:43 +09:00
Paul Riseborough
8a9d9c04c5 AP_NavEKF: Add public function to declare GPS glitch 2015-10-08 15:09:40 +09:00
Paul Riseborough
21e4910149 AP_NavEKF: Allow user to select preflight GPS checks 2015-10-08 15:09:37 +09:00
Paul Riseborough
cdae84aec1 AP_NavEKF: Additional pre-arm GPS quality checks 2015-10-08 15:09:34 +09:00
Paul Riseborough
8a66c9c2ed AP_NavEKF: Critical Bugfix 2015-10-08 10:54:34 +09:00
Randy Mackay
b5c49e0792 AP_NavEKF: minor comment fix 
No functional change
 2015-09-24 16:57:36 +09:00
Jonathan Challinger
51fb13a329 AP_NavEKF: fix getLastYawResetAngle to return yaw reset system time 2015-09-24 16:57:33 +09:00
Paul Riseborough
02408861a1 AP_NavEKF: Remove unused function 2015-09-24 12:58:43 +10:00
Tom Pittenger
e2fde36ec6 AP_NavEKF: index out of range due to incorrect assignment 2015-09-22 11:41:51 +09:00
Paul Riseborough
5c32bb8858 AP_NavEKF: Add pre-flight check for gyro quality 2015-09-21 17:06:31 +09:00
Paul Riseborough
8cfde42e15 AP_NavEKF: Ensure bad mag data cannot cause the heading to reset too often 2015-09-16 15:13:37 +09:00
Paul Riseborough
930f730612 AP_NavEKF: Reset mag and heading states to try and pass pre-flight checks 2015-09-16 15:13:36 +09:00
Staroselskii Georgii
b5b6d767bd AP_NavEKF: make EKF use milligauss 2015-09-09 10:38:16 +10:00
Andrew Tridgell
0ca534bfab AP_NavEKF: only call calcGpsGoodToAlign if we need to 
avoid calling it once we have an origin. This avoids some calculations
and string operations
 2015-09-08 16:07:33 +10:00
Andrew Tridgell
c10ce3ffbd AP_NavEKF: added prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Paul Riseborough
21f873662c AP_NavEKF: Prevent false triggering of optical flow takeoff detection 
Now that we have a pre-arm check in place to detect bad lidar, the motion check is unnecessary and can false trigger for copters with flexible undercarriages or on uneven ground.
 2015-08-27 20:57:38 +09:00
Randy Mackay
ec2bc5e41d NavEKF: use maxf when retrieving vibration levels 
This reduces the performance hit that was caused by multiple calls to get_vibration_levels
 2015-08-19 16:44:36 +09:00
Randy Mackay
629a5fd714 NavEKF: IMUSwitchState enum 2015-08-19 16:44:31 +09:00
Randy Mackay
c179ed5253 NavEKF: IMU ratio set to primary accel when neither IMU is used 
This forces the EKF IMU ratio to indicate which IMU is used except that it will be "0" in the unlikely case that the third IMU is used
 2015-08-19 16:44:28 +09:00
Paul Riseborough
559cc29635 AP_NavEKF: Add hysteresis to IMU switching logic 2015-08-19 16:44:26 +09:00