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133 Commits

Author SHA1 Message Date
Andrew Tridgell 334bd8eaa5 AP_NavEKF3: fixed race condition in updateFilterStatus() 
filter status was initially set to zero then updated. This interacts
with the IMU filtering code which checks filter status from a
different thread to determine active_EKF_type(). When the race
condition is hit then the IMU we are running notch filters on changes
for a single sample, causing a notch filter glitch
 2023-08-14 08:49:48 +09:00
Paul Riseborough 3c99766a5a AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-21 09:48:59 +10:00
Peter Barker 7f4c5a9a84 AP_NavEKF3: tidy variable declarations 2023-01-25 19:58:54 +11:00
Peter Barker 5cb6906968 AP_NavEKF3: add and use AP_BEACON_ENABLED 2022-11-16 08:16:31 +11:00
Paul Riseborough 399f30bfce AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor 2022-09-26 14:17:53 +10:00
Paul Riseborough 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
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
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
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 e9c339a0a0 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-21 17:16:36 +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 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
Peter Barker c34284b6eb AP_NavEKF3: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Paul Riseborough 8fd1e98701 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 0088b0f3fe AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Andrew Tridgell 6b73c2151a AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 885e518741 AP_NavEKF3: allow for double EKF build 2021-07-10 07:20:41 +10:00
Paul Riseborough 1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Josh Henderson 64dc3bbe41 AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson 0ae3730f11 AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-06-22 12:01:10 +10:00
Peter Barker c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Paul Riseborough b9abef37c3 AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground. 2021-05-11 10:37:08 +10:00
Paul Riseborough 3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough 295c1e1308 AP_NavEKF3: Reset covariances when falling back to non aiding mode 2021-03-05 12:10:01 +11:00
Paul Riseborough ddadc45854 AP_NavEKF3: Reset states when falling back into non aiding mode. 2021-03-05 12:10:01 +11:00
Paul Riseborough b92eca7b66 AP_NavEKF3: Select startup aiding mode after landing without yaw sensor 2021-03-05 12:10:01 +11:00
Patrick José Pereira 3b0dac3198 AP_NavEKF3: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Randy Mackay 1814524fcb AP_NavEKF3: fix using_external_yaw when using external nav 
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
 2021-02-09 11:35:39 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
Randy Mackay 27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay 5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell 80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Paul Riseborough 8561f5239d AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate 2020-11-21 12:56:10 +11:00
Randy Mackay 04e3623620 AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
 2020-11-20 16:43:44 +09:00
Randy Mackay f88364d653 AP_NavEKF3: use_compass minor order fixup 2020-11-20 16:43:44 +09:00
Randy Mackay b475f01b25 AP_NavEKF3: update comments 2020-11-20 16:43:44 +09:00
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6daaa06317 AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource 
also integrate useVelZSource
 2020-11-20 16:43:44 +09:00
Randy Mackay 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay 4cadaa5194 AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source 2020-11-20 16:43:44 +09:00
Randy Mackay faed58a027 AP_NavEKF3: integrate Source for yaw 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00