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Commit Graph

296 Commits

Author SHA1 Message Date
Pierre Kancir
431468452c AP_NavEKF3: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay
ca0ae57b56 AP_NavEKF3: protect against position-delta sensor data being NaN 2020-06-19 13:46:52 +09:00
Randy Mackay
331f2f5fe7 AP_NavEKF3: writeExtNavData stores pos to buffer first 
This is a non-functional change
 2020-06-19 13:46:52 +09:00
Randy Mackay
578800dfbb AP_NavEKF3: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
chobits
9b448b83c0 AP_NavEKF3: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Randy Mackay
345029ec67 AP_NavEKF3: print extNav buff size 2020-06-09 09:42:14 +10:00
Randy Mackay
0f212ca727 AP_NavEKF3: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Peter Barker
86687d240d AP_NavEKF3: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
Randy Mackay
93d8458d2a AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check 2020-06-02 08:33:42 +09:00
Randy Mackay
d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
chobits
c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Peter Barker
bf3cb977fd AP_NavEKF3: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Paul Riseborough
939331ae8d AP_NavEKF3: Fix double iteration of axes in SelectMagFusion 2020-05-18 09:38:45 +10:00
Randy Mackay
6c20264d9c AP_NavEKF3: minor comment fix 2020-05-15 11:23:07 +09:00
Randy Mackay
5ad3611142 AP_NavEKF3: improve ext nav glitch handling 
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
 2020-05-15 11:23:07 +09:00
Randy Mackay
ef02942459 AP_NavEKF3: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
c28fd27b02 AP_NavEKF3: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough
318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
Randy Mackay
45e6896d95 AP_NavEKF3: ensure extnav angle error is at least 5deg 2020-05-14 08:02:13 +10:00
Randy Mackay
67903a29e2 AP_NavEKF3: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell
5350ea5c58 AP_NavEKF3: avoid build warnings with g++ 9 2020-05-10 15:11:22 +10:00
Henry Wurzburg
8b3f07416c AP_NAVEKF3: change plane check_scaler value to match EKF2 value 2020-05-10 07:59:27 +10:00
Andrew Tridgell
cd5aae20c1 AP_NavEKF3: fixed scary message for non-compass planes 2020-05-09 12:33:33 +10:00
Andrew Tridgell
0c1ba48212 AP_NavEKF3: fixed external yaw EK3_MAG_CAL=5 or 6 
don't use GSF
 2020-05-04 15:05:56 +10:00
Randy Mackay
183ce50138 AP_NavEKF3: check GPS used before resetting pos due to GPS receiver change 2020-04-30 15:55:59 +09:00
Randy Mackay
f79d5d2d2c AP_NavEKF3: handle external nav position reset 2020-04-30 15:55:59 +09:00
Randy Mackay
cbb25311bb AP_NavEKF3: setAidingMode uses lastExtNavPassTime_ms 2020-04-30 15:55:59 +09:00
Randy Mackay
d763597065 AP_NavEKF3: compensate for visual odometry sensor position 2020-04-30 15:55:59 +09:00
priseborough
c5e465aec9 AP_NavEKF3: add external nav system support 
includes decoupling height source from use of external nav data
 2020-04-30 15:55:59 +09:00
Andrew Tridgell
7e010ef50a AP_NavEKF3: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Paul Riseborough
ad5ae1813d AP_NavEKF3: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Randy Mackay
91a79543c9 AP_NavEKF3: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Peter Barker
3440a64b66 AP_NavEKF3: correct description on XKY0 2020-04-24 18:08:14 +10:00
Peter Barker
aa3165b71c AP_NavEKF3: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell
43ef8a192b AP_NavEKF3: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough
1720c8de0f AP_NavEKF3: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
9bdb89474a AP_NavEKF3: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Andrew Tridgell
080f555b16 AP_NavEKF3: remove unused isDeltaYaw param from resetQuatStateYawOnly 2020-04-24 09:43:23 +10:00
Andrew Tridgell
197d31e9cc AP_NavEKF3: fixed in-flight yaw reset 2020-04-24 09:43:23 +10:00
Randy Mackay
86d221708c AP_NavEKF3: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
c1ef894a30 AP_NavEKF3: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
8a8271c2c7 AP_NavEKF3: minor format fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
ed3d072318 AP_NavEKF3: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough
7ba39c844c AP_NavEKF3: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
216935c1f2 AP_NavEKF3: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Paul Riseborough
9f5e037015 AP_NavEKF3: Restore bug fix lost during rebase 2020-04-24 09:43:23 +10:00
Paul Riseborough
53df8a0238 AP_NavEKF3: Fix timer wrapping bug 2020-04-24 09:43:23 +10:00
Paul Riseborough
12d639fc17 AP_NavEKF3: Misc changes arising from review 
AP_NavEKF3: Fix typo in comment

AP_NavEKF3: Use uint32_t data type for msec timers

AP_NavEKF3: Misc msec timer fixes

Fix wrapping bug.
Use common timestamp.

AP_NavEKF3: Format fixes - remove tabs

AP_NavEKF3: Fix typing and wrap issue on time comparison
 2020-04-24 09:43:23 +10:00
Paul Riseborough
4b3952bd15 AP_NavEKF3: Eliminate unnecessary function call 2020-04-24 09:43:23 +10:00
Paul Riseborough
6ec69e6ed1 AP_NavEKF3: Update EK3_MAG_CAL parameter advice 2020-04-24 09:43:23 +10:00