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192 Commits

Author SHA1 Message Date
Andrew Tridgell da7dc71195 AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2020-02-05 10:10:20 +11:00
Andrew Tridgell 6ffffff8c6 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:09:00 +11:00
Andrew Tridgell a48d97c307 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2020-02-05 10:08:10 +11:00
Andrew Tridgell 43df0022e1 use common variables for EKF 2019-10-06 10:58:07 +11:00
Andrew Tridgell 9ad9fe42bc AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-06 10:58:07 +11:00
Michael du Breuil a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
hoangthien94 fc9ff2b09a AP_NavEKF2: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
Andrew Tridgell e7163afe06 AP_NavEKF2: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell 742ae0b750 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell 5db41147ed AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Andrew Tridgell 567c902e75 AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Michael du Breuil 892b687c09 AP_NavEKF2: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Andrew Tridgell 3073c4da7a AP_NavEKF2: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Andrew Tridgell df4fc0fff0 AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-06-08 20:24:58 +10:00
Andrew Tridgell 3835d2613e AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-06-03 12:21:29 +10:00
Andrew Tridgell cc62998d40 AP_NavEKF2: fixed bug in EKF lane selection 
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
 2019-05-07 06:59:50 +10:00
Michael du Breuil 7f639c1bb2 AP_NavEKF2: Allow checking all cores for failure 2019-04-09 10:53:25 +10:00
Paul Riseborough 8038efc152 AP_NavEKF2: Flow use parameter updates 2019-04-02 10:51:12 +11:00
Paul Riseborough e2148e7e2a AP_NavEKF2: Update default plane optical flow param values 
Reduce time required to form estimate of terrain offset
 2019-04-02 10:51:12 +11:00
Paul Riseborough 67d20f3b3c AP_NavEKF2: Update parameter description 2019-04-02 10:51:12 +11:00
Paul Riseborough 1862512c2b AP_NavEKF2: Use flow sensor for navigation with unknown platform type 
This is the more common use case.
 2019-04-02 10:51:12 +11:00
Paul Riseborough 921205f61c AP_NavEKF2: Minor amendments from review 2019-04-02 10:51:12 +11:00
Paul Riseborough a40208ebd4 AP_NavEKF2: Improve optical flow height estimation 
Updated derivation using sequential fusion of Y and X axis data.
 2019-04-02 10:51:12 +11:00
Paul Riseborough 2b8b53d6b2 AP_NavEKF2: Add parameter to control how optical flow flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn 6b70181837 AP_NavEKF2: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Tom Pittenger 8506ae9c32 AP_NavEKF2: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Arjun Vinod a0e7c37f8c AP_NavEKF2: fixed typos 2019-02-22 10:21:35 +11:00
Tom Pittenger b32e8a4424 AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 12:59:52 -08:00
Tom Pittenger 8a6a39b590 AP_NavEKF3: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
chobits 3766ee1b60 AP_NavEKF2: add external navigation data lag 2019-01-31 08:30:22 +09:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Randy Mackay c616587b86 AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005 2018-12-27 14:09:53 +09:00
Michael du Breuil 29db069c75 AP_NavEKF2: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
chobitsfan 1e56ad4837 AP_NavEKF2: add external nav system to POSNE_M_NSE description 2018-10-24 19:14:54 +09:00
Peter Barker 889190d46e AP_NavEKF2: always set EKF control limits, even with no cores 2018-10-09 10:47:38 +11:00
Peter Barker d8aa8d2b71 AP_NavEKF2: 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
Michael du Breuil ee9cc28fda AP_NavEKF2: Utilize the GPS drivers estimate for lag 2018-08-07 09:55:26 +10:00
Randy Mackay 3d72022f6e EKF: modify ALT_SOURCE param description 
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
 2018-07-18 08:31:09 +09:00
Peter Barker baa818a812 AP_NavEKF2: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker 578facc9ad AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton 2018-04-18 13:50:55 +09:00
Peter Barker 81044760c7 AP_NavEKF2: const accessors 2018-04-04 12:20:36 +01:00
Paul Riseborough c680b931dc AP_NavEKF2: Enable fusion of external nav position data 2018-03-27 20:28:42 +09:00
Peter Barker 40957ec430 AP_NavEKF2: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 5ab89324b2 AP_NavEKF2: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 5b7d5a9757 AP_NavEKF2: mark getEulerAngles as const 2018-03-07 12:34:39 +00:00
Peter Barker 3a99b2bce1 AP_NavEKF: move initialisation of EKF constants into header file 
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
 2018-03-01 20:27:19 +09:00
bugobliterator b1213a522d AP_NavEKF2: allocate NavEKF core from MEM_FAST region 2018-01-15 11:46:02 +11:00
Peter Barker 9c8466dc03 AP_NavEKF2: use GPS singleton 2017-12-27 00:58:02 +00:00
priseborough efdc651d1a AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter 
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
 2017-10-04 00:24:15 +01:00