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843ddb4fdc
Commit Graph

478 Commits

Author SHA1 Message Date
Randy Mackay
843ddb4fdc AP_NavEKF3: minor format fix 2020-12-15 19:29:16 +11:00
Paul Riseborough
a9e76d44af AP_NavEKF3: Clean up yaw fusion logic 2020-12-15 19:29:16 +11:00
Paul Riseborough
ccfd89240b AP_NavEKF3: Fix error in calculation of static 312 order yaw reference 2020-12-15 19:29:16 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f77ab30f7a Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions" 
This reverts commit 4f4a2f446d.
Makes more sense to add those to the list of supported units
 2020-12-15 18:22:36 +11:00
Paul Riseborough
8f32430294 AP_NavEKF3: Fix white spaces 2020-12-11 15:21:41 +11:00
Paul Riseborough
bdc202378a AP_NavEKF3: fix white space 2020-12-11 15:21:41 +11:00
Paul Riseborough
ed17d8e48f AP_NavEKF3: Improve parameter display names 2020-12-11 15:21:41 +11:00
Paul Riseborough
171f0b399f AP_NavEKF3: Remove commented code 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b86c014400 AP_NavEKF3: rename drag parameters to start with EK3_DRAG_ 2020-12-11 15:21:41 +11:00
Paul Riseborough
47d4506e68 AP_NavEKF3: Add drag and sideslip innovation logging 2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09 AP_NavEKF3: Formatting and comment fixes 2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Paul Riseborough
5da62aeaa2 AP_NavEKF3: Fix CI build errors 2020-12-11 15:21:41 +11:00
Paul Riseborough
0d2c235027 AP_NavEKF3: Fix #define typo 2020-12-11 15:21:41 +11:00
Paul Riseborough
ab05e8ed4a AP_NavEKF3: Update param descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
4f4a2f446d AP_NavEKF3: Remove unsupported parameter unit descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell
ac4a05ffbf AP_NavEKF3: fixed null dereference of airspeed 
this caused a segfault in replay
 2020-12-11 14:22:46 +11:00
Andrew Tridgell
2071a19a40 AP_NavEKF3: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Peter Barker
58f6570755 AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h 
The EKFs logging is independant so we can kill EKF2...

Also use correct structure for logging XKF1; these structures were
identical.
 2020-12-08 11:30:10 +11:00
chobits
013b39d2a6 AP_NavEKF3: fix ext nav vel timestamp cal 2020-12-07 08:54:42 +09:00
Peter Barker
287e9350a5 AP_NavEKF3: move log message IDs in from AP_Logger LogStructure 2020-12-03 19:22:26 +11:00
Peter Barker
79109458c2 AP_NavEKF3: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Andrew Tridgell
bdba430e55 AP_NavEKF3: save memory on beacon debug structure 
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
 2020-12-01 10:53:08 +11:00
Andrew Tridgell
bb32f1a397 AP_NavEKF3: avoid initialising unused ring buffers 
this assumes the nav sources are treated as reboot required
 2020-12-01 10:53:08 +11:00
Peter Barker
e972fb31b1 AP_NavEKF3: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker
0529ddcd67 AP_NavEKF3: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker
2885026bba AP_NavEKF3: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker
b79a26135c AP_NavEKF3: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker
2d25149e2e AP_NavEKF3: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell
d242339f2e AP_NavEKF3: added have_vz flag to GPS buffer data 
this ensures that we record GPS vertical velocity status for every
sample correctly
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
603e0c090d AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity 
setting the parameter to 1 causes the following issues:

 - the GPS may not have vertical velocity at the time the parameter
   set happens, but may get it later when the GPS is fully configured

 - we may switch between GPS modules which do/don't have vertical
   velocity

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
 2020-12-01 10:33:50 +11:00
Peter Barker
52b8b95a72 AP_NavEKF3: rearrange readGPSData to remove some nesting 2020-11-30 11:51:12 +11:00
Randy Mackay
4cd1c3cfde AP_NavEKF3: param conversion loses config_error 
config_error should only be run as part of setup because it may never return
 2020-11-27 08:20:07 +09:00
Randy Mackay
adfc92523b AP_NavEKF3: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Andrew Tridgell
7eea13f86f AP_NavEKF3: fixed build of standalone replay link test 
parameter conversion not needed for replay
 2020-11-24 20:46:37 +11:00
Peter Barker
200b085eea AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write) 2020-11-22 20:47:29 +11:00
Peter Barker
e1a033b296 AP_NavEKF3: make logging a core concern 
Also dissolve some methods only used for logging
 2020-11-22 20:47:29 +11:00
Peter Barker
914629351f AP_NavEKF3: use scalar rather than array for state-prediction-allowed 
EKF2 needs this for choosing alternate cores.  EKF3 does not.
 2020-11-22 14:09:48 +11:00
Paul Riseborough
8561f5239d AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate 2020-11-21 12:56:10 +11:00
Andrew Tridgell
1e4b1d7563 AP_NavEKF3: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Randy Mackay
d1983b0b77 AP_NavEKF3: fixup source param conversion 
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
 2020-11-20 16:43:44 +09:00
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
Andrew Tridgell
36c946113d AP_NavEKF3: handle compass fallback in yaw source reset 
if we get to this point we must be using the compass fallback logic,
and should do the reset
 2020-11-20 16:43:44 +09:00
Randy Mackay
8895d20c45 AP_NavEKF3: rename setPosVelYawSourceSet 2020-11-20 16:43:44 +09:00
Randy Mackay
5eb3875ebb AP_NavEKF3: rename posxy_source_last and posxy_source_reset 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
0f8d0ef11b AP_NavEKF3: move sources to 2nd bank of parameters 2020-11-20 16:43:44 +09:00