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732 Commits

Author SHA1 Message Date
Randy Mackay e32a8556b2 AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled 2019-10-22 07:15:48 +08:00
Randy Mackay e2d3afaaa7 AP_NavEKF2: reduce EK2_HRT_FILT max to 30 2019-10-18 11:15:25 +09:00
Paul Riseborough c26c6fd078 AP_NavEKF2: Add missing vertical position derivative calculation 
Use a third order order complementary filter to estimate the rate of change of vertical position output.
 2019-10-18 11:15:25 +09:00
Andrew Tridgell cbe34320b5 AP_NavEKF2: fixed build 
broken by recent common variable change
 2019-10-01 17:35:26 +10:00
Andrew Tridgell f7e138bddd 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
 2019-10-01 15:39:03 +10:00
Andrew Tridgell 8dd2119b14 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-09-28 08:57:26 +10:00
Andrew Tridgell 163efd0df5 AP_NavEKF2: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Peter Barker 952d4d2cbc AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2019-09-25 12:54:55 +10:00
Andrew Tridgell d40d812ea4 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2019-09-24 14:59:17 +10:00
Andrew Tridgell 9226899c6f AP_NavEKF2: added comment (review request) 2019-09-24 12:51:54 +10:00
Andrew Tridgell 255981c60c AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2019-09-24 12:51:54 +10:00
Andrew Tridgell 96c6544997 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
 2019-09-24 12:51:54 +10:00
Andrew Tridgell 0041874826 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
 2019-09-24 12:51:54 +10:00
Andrew Tridgell 1d47f9186e AP_NavEKF2: fixed use of old irqsave() API 2019-09-21 15:36:47 +10:00
Peter Barker 3619856fc9 AP_NavEKF2: correct return of empty prearm string 2019-09-19 08:47:47 +09:00
Randy Mackay 94a52b3525 EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Michael du Breuil a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Peter Barker c8fac758ee AP_NavEKF2: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Andrew Tridgell 414d3eb670 AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3 
when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code

This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
 2019-08-26 12:27:31 +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 098701ec79 AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Andrew Tridgell e7163afe06 AP_NavEKF2: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell c57b25b4c9 AP_NavEKF2: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell a01faa2f00 AP_NavEKF2: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 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
Siddharth Purohit 1527a5b97c AP_NavEKF2: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
Andrew Tridgell 2427440e13 AP_NavEKF2: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell e8d9a1fae9 AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell f5fd38aef2 AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell 9372073f63 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell 20ebb2500b AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell ddef40fa3d AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell 1c4c5a6850 AP_NavEKF2: learn gyro biases for inactive gyros 
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
 2019-07-07 19:03:01 +10:00
Peter Barker 6a0a466f42 AP_NavEKF2: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker 5175d23cc1 AP_NavEKF2: move logging in from AP_Logger 2019-07-06 19:05:51 +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
Peter Barker 82df167ad4 AP_NavEKF2: use beacon singleton 2019-07-01 07:20:58 +09:00
Michael du Breuil f04e47fc17 AP_NavEKF2: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +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
Peter Barker 11f31c2851 AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Andrew Tridgell e9ed3540f1 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-06-03 12:21:29 +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
Randy Mackay e19d638c0f AP_NavEKF2: support higher optical flow updates rates 2019-05-11 16:23:57 +09:00
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
Pierre Kancir 50e99b6e1a AP_NavEKF2: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Pierre Kancir 3f5a6a243c AP_NavEKF2: use get_distance instead of location_diff 2019-04-08 08:00:52 -07:00
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 aa6eee82f4 AP_NavEKF2: Rework opt flow terrain height logic 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
Dr.-Ing. Amilcar do Carmo Lucas 79ee52917f AP_NavEKF2: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Arjun Vinod 78b165e36f AP_NavEKF2: fixed typos 2019-02-26 08:33:39 +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
Andrew Tridgell ccc1f906f8 AP_NavEKF2: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 13:04:52 +11:00
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
Peter Barker ebd12b30e8 AP_NavEKF2: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker 9be604e3ce AP_NavEKF2: adjust for location flags being moved out of union 2019-01-16 11:45:29 +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
Pierre Kancir 49d20364cb AP_NavEKF2: pass quaternion by const reference 2018-12-20 09:05:01 +09:00
Andrew Tridgell 8ea7df3efe AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed 2018-11-30 11:02:30 +11:00
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
chobits 08b9bf4a89 AP_NavEKF2: fix extNav position noise 2018-10-24 19:14:54 +09:00
Andrew Tridgell 805647df85 AP_NavEKF2: enable use of in-flight compass learning 2018-10-24 07:25:42 +10:00
Peter Barker 1c1d651979 AP_NavEKF2: add space for null-termination 
This is simply to preserve existing behaviour when snprintf starts to
null-terminate strings
 2018-10-21 07:54:30 +11:00
Peter Barker 3a79ae4eca AP_NavEKF2: use union to alias array and struct access to states 
This avoids creating two pointers of different types to the same memory.

Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on which
is deemed faster - not a good outcome.
 2018-10-19 08:46:43 +11:00
Peter Barker fb176b544f AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES 2018-10-19 08:46:43 +11:00
Peter Barker 889190d46e AP_NavEKF2: always set EKF control limits, even with no cores 2018-10-09 10:47:38 +11:00
Peter Barker 3774aa6619 AP_NavEKF2: remove default clause in setAidingMode 
All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
 2018-10-03 17:49:43 +01:00
Michael du Breuil 66e9286cf6 AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH 2018-09-21 00:18:49 +01:00
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
Andrew Tridgell 3d31773fb4 AP_NavEKF2: fill in gps_quality_good flag 2018-07-14 17:49:52 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 59e087214f AP_NavEKF2: spell in comments (NFC) 2018-07-10 08:17:57 +09:00
Peter Barker baa818a812 AP_NavEKF2: use compass singleton for logging 2018-07-04 20:11:27 +01:00
murata a9b2b9dddf AP_NavEKF2: Delete unused definitions 2018-06-11 09:11:44 +09:00
murata 1e011c0c15 AP_NavEKF2: Clarify the message 2018-06-04 11:32:15 +09:00
Andrew Tridgell fb0deba3aa AP_NavEKF2: send airspeed variance over mavlink 2018-04-30 15:41:31 +10:00
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
priseborough 12fd19ea26 AP_NavEKF2: Clarify definition for gps_glitching flag 2018-03-27 20:28:57 +09:00
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 dbe860152d AP_NavEKF2: tight types on constants 
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
 2018-03-01 20:27:19 +09:00
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
Pierre Kancir 171e80d8dc AP_NavEKF2: only report terrain estimator innovations with valid rng value 2017-12-18 22:51:46 +00:00
Andrew Tridgell 4d4e66d825 AP_NavEKF2: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
priseborough 3b32d583a9 AP_NavEKF2: Fix delta time use error 2017-12-12 11:39:38 +11:00
priseborough 440d361aff AP_NavEKF2: Limit range of delta times 2017-12-12 11:39:38 +11:00
Andrew Tridgell 97729a12f0 AP_NavEKF2: don't run IMU updates until buffer fills 
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
 2017-12-12 11:39:38 +11:00
Andrew Tridgell 4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Samuel Tabor 1b4705242c AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available 2017-11-20 13:53:31 +09:00
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
Lucas De Marchi 3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker 1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Michael du Breuil dffa3d3b40 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
priseborough ac568bae53 AP_NavEKF2: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough 027552ef44 AP_NavEKF2: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
Peter Barker 5da3759ff4 AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Randy Mackay 7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough c69c5440a0 AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
priseborough ce8e935896 AP_NavEKF2: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough b7e6e6f95f AP_NavEKF2: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Andrew Tridgell cbffc29f0b AP_NavEKF2: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
priseborough 647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles 
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
 2017-06-19 06:09:07 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 7426bdb9b7 AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter 2017-06-16 12:05:20 +01:00
priseborough b42fb31d7d AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK 
Turn off by default.
Update parameter description
 2017-06-14 12:44:41 +01:00
priseborough fd25450632 AP_NavEKF2: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
priseborough 1985dcd366 AP_NavEKF2: Fix bug in declination fusion 2017-06-03 15:16:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 3f6059397c AP_NavEKF2: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 38b19b9eee AP_NavEKF2: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
priseborough 2d4eee0cce AP_NavEKF2: documentation update 2017-05-01 14:24:55 +10:00
Andrew Tridgell 2de8777669 AP_NavEKF2: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
priseborough e48f46c98b AP_NavEKF2: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 082f429da3 AP_NavEKF2: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
priseborough 596b20eb07 AP_NavEKF2: close perf counter when doing early return 2017-04-27 20:14:21 +10:00
priseborough 88469ce80c AP_NavEKF2: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell d799bacd7d AP_NavEKF2: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Andrew Tridgell 9f3c2cb704 AP_NavEKF2: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
Jonathan Challinger c53125f3b5 AP_NavEKF2: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
Jacob Walser 646d68c76d AP_NavEKF2: Fix parameter metadata 2017-03-22 16:16:26 -07:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough 407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough 8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough b7c4945000 AP_NavEKF2: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Randy Mackay 563be389ee AP_NavEKF2: only use downward facing rangefinder 2017-02-27 15:18:10 +09:00
Michael du Breuil 8b69f1708e NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF 2017-02-22 11:53:42 -08:00
Jacob Walser e7a34b0fb3 AP_NavEKF2: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough a1d41edc4e AP_NavEKF2: Use the same mag fusion method for all cores 
The original reason for using a different method for the second core is no longer valid.
 2017-02-15 19:01:10 +00:00
priseborough 5cd403c0b9 AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough a63eac8073 AP_NavEKF2: Add missing perf_end 2017-01-27 16:57:42 +09:00
priseborough 7ea37029b6 AP_NavEKF2: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 715d094678 AP_NavEKF2: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Francisco Ferreira c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25 2017-01-09 16:16:14 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 9389ec2274 AP_NavEKF2: fix parameter descriptions 2017-01-09 13:30:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
murata 653030b038 AP_NavEKF2: Changed if statements to switch statement. 
AP_NavEKF2: Change indentation.
 2016-12-26 10:15:55 +09:00
priseborough 6dc7d25fde AP_NavEKF2: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
priseborough fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough a8f3a374e2 AP_NavEKF2: replace sqrt function calls with sqrtf 
Prevents compiler errors and un-wanted use of double precision types
 2016-12-18 10:28:04 +11:00
priseborough 76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-13 01:18:28 +00:00
priseborough 69f3c83c20 AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid 
Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
 2016-12-09 21:17:28 +00:00
priseborough 14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
murata 25e47cce6b AP_NavEKF2: Changed sqrt method to sqrtf method. 
AP_NavEKF2: Changed sqrt method to sqrtf method.
 2016-12-07 15:41:41 +00:00
Randy Mackay fc5f4c20cd AP_NavEKF2: remove redundant check of beacon nullptr 
thanks to muramura for spotting this
 2016-12-01 14:53:26 +09:00
priseborough 665ba1c009 AP_NavEKF2: Fix bug in reporting of vertical position reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
 2016-12-01 10:35:38 +09:00
priseborough 7f347e39dd AP_NavEKF2: Fix bug in reporting of horizontal position reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
 2016-12-01 10:35:38 +09:00
priseborough 656d9bb2c4 AP_NavEKF2: Fix bug in reporting of yaw reset 
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
 2016-12-01 10:35:38 +09:00
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
priseborough 175faf1e41 AP_NavEKF2: Fix bug in published yaw reset value found during code review 2016-09-13 17:35:18 +09:00
priseborough 77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough 885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
Andrew Tridgell dd812cfc0c AP_NavEKF2: added getPrimaryCoreIMUIndex() 
needed for correct AHRS gyro estimate
 2016-09-05 12:53:53 +10:00
priseborough e6f36f04db AP_NavEKF2: Enable automatic use of range finder height 
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
 2016-08-08 10:56:44 +09:00
Jonathan Challinger d1ecc63bf1 AP_NavEKF2: change priority of statustext messages 2016-07-29 13:19:51 +09:00
Andrew Tridgell 567d5cdbe6 AP_NavEKF2: use mavlink messages not printf for state change notifications 2016-07-19 12:16:51 +10:00
priseborough bd7bf21475 AP_NavEKF2: Speed improve switch-over to backup magnetometer 
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. other wise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.
 2016-07-19 12:16:50 +10:00
priseborough e34cdc6666 AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers 
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
 2016-07-19 12:16:50 +10:00
priseborough e2b8807260 AP_NavEKF2: Fix bug causing switching in and out of aiding 
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.
 2016-07-19 12:16:50 +10:00
priseborough fcc07b5560 AP_NavEKF2: Prevent multiple aiding mode changes per update 2016-07-19 12:16:50 +10:00
priseborough f4f347fb75 AP_NavEKF2: add missing parenthesis and console message 2016-07-19 12:16:50 +10:00
priseborough 9a23152ee4 AP_NavEKF2: Fix bugs and consolidate aiding switch logic 
Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.
 2016-07-19 12:16:50 +10:00
priseborough 230ba2700f AP_NavEKF2: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough 341d070db8 AP_NavEKF2: Separate filter status update and get functions 
The filter status logic calculations were being repeated every time the get function was called.
The logic is now updated once per filter update step and a separate get function added
 2016-07-19 12:16:49 +10:00
priseborough b1717649b1 AP_NavEKF2: remove combined NED local position interface 2016-07-19 12:16:49 +10:00
priseborough e374ec634d AP_NavEKF2: Add separate horizontal/vertical local position interfaces 2016-07-19 12:16:49 +10:00
priseborough 04e8726d8a AP_NavEKF2: relax bias convergence check 
Enables bias convergence check to pass within 30 seconds when vehicle is static.
 2016-07-19 12:16:48 +10:00
priseborough 280395afa1 AP_NavEKF2: Don't declare ready to do aiding unless gyro bias is learned 2016-07-19 12:16:48 +10:00
priseborough 169cd6625d AP_NavEKF2: clean up output predictor 2016-07-19 12:16:48 +10:00
priseborough aaab250f13 AP_NavEKF2: Don't start GPS aiding until gyro calibration has stabilised 
If we start GPS aiding before the gyro bias variances have reduced, glitches on the GPS can cause attitude disturbances that degrade flight accuracy during early flight.
 2016-07-19 12:16:48 +10:00
priseborough 8793c75da0 AP_NavEKF2: clean up mag field learned logic 2016-07-11 00:44:33 +10:00
priseborough e6592186fc AP_NavEKF2: Tuning update 
Slow down magnetic field learning
 2016-07-10 08:21:18 +10:00
priseborough 10470b2dc1 AP_NavEKF2: fix bug in initialisation of declination co-variances 
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
 2016-07-10 08:21:18 +10:00
priseborough 6b04a81b8d AP_NavEKF2: Fix plane in-flight yaw reset bug 
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.

1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
 2016-07-10 08:21:18 +10:00