8038efc152
AP_NavEKF2: Flow use parameter updates
2019-04-02 10:51:12 +11:00
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
aa6eee82f4
AP_NavEKF2: Rework opt flow terrain height logic
2019-04-02 10:51:12 +11:00
67d20f3b3c
AP_NavEKF2: Update parameter description
2019-04-02 10:51:12 +11:00
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
921205f61c
AP_NavEKF2: Minor amendments from review
2019-04-02 10:51:12 +11:00
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
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
2019-04-02 10:51:12 +11:00
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
2019-03-29 10:58:00 +11:00
8506ae9c32
AP_NavEKF2: rename dataflash to logger
2019-03-28 16:40:57 +11:00
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
78b165e36f
AP_NavEKF2: fixed typos
2019-02-26 08:33:39 +11:00
a0e7c37f8c
AP_NavEKF2: fixed typos
2019-02-22 10:21:35 +11:00
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
2019-02-17 12:59:52 -08:00
8a6a39b590
AP_NavEKF3: unify singleton naming to _singleton and get_singleton()
2019-02-10 19:09:58 -07:00
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
3766ee1b60
AP_NavEKF2: add external navigation data lag
2019-01-31 08:30:22 +09:00
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
ebd12b30e8
AP_NavEKF2: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
9be604e3ce
AP_NavEKF2: adjust for location flags being moved out of union
2019-01-16 11:45:29 +11:00
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
2018-12-27 14:09:53 +09:00
49d20364cb
AP_NavEKF2: pass quaternion by const reference
2018-12-20 09:05:01 +09:00
8ea7df3efe
AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed
2018-11-30 11:02:30 +11:00
29db069c75
AP_NavEKF2: Suppress clearing non-trival type warning
2018-10-30 16:17:03 -07:00
1e56ad4837
AP_NavEKF2: add external nav system to POSNE_M_NSE description
2018-10-24 19:14:54 +09:00
08b9bf4a89
AP_NavEKF2: fix extNav position noise
2018-10-24 19:14:54 +09:00
805647df85
AP_NavEKF2: enable use of in-flight compass learning
2018-10-24 07:25:42 +10:00
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
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
fb176b544f
AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES
2018-10-19 08:46:43 +11:00
889190d46e
AP_NavEKF2: always set EKF control limits, even with no cores
2018-10-09 10:47:38 +11:00
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
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
2018-09-21 00:18:49 +01:00
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
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
2018-08-07 09:55:26 +10:00
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
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
2018-07-14 17:49:52 +10:00
59e087214f
AP_NavEKF2: spell in comments (NFC)
2018-07-10 08:17:57 +09:00
baa818a812
AP_NavEKF2: use compass singleton for logging
2018-07-04 20:11:27 +01:00
a9b2b9dddf
AP_NavEKF2: Delete unused definitions
2018-06-11 09:11:44 +09:00
1e011c0c15
AP_NavEKF2: Clarify the message
2018-06-04 11:32:15 +09:00
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
2018-04-30 15:41:31 +10:00
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
2018-04-18 13:50:55 +09:00
81044760c7
AP_NavEKF2: const accessors
2018-04-04 12:20:36 +01:00
12fd19ea26
AP_NavEKF2: Clarify definition for gps_glitching flag
2018-03-27 20:28:57 +09:00
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
2018-03-27 20:28:42 +09:00
40957ec430
AP_NavEKF2: use ins singleton
2018-03-16 00:37:35 -07:00
5ab89324b2
AP_NavEKF2: use baro singleton
2018-03-08 21:20:05 -08:00
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
2018-03-07 12:34:39 +00:00
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
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
b1213a522d
AP_NavEKF2: allocate NavEKF core from MEM_FAST region
2018-01-15 11:46:02 +11:00
9c8466dc03
AP_NavEKF2: use GPS singleton
2017-12-27 00:58:02 +00:00
171e80d8dc
AP_NavEKF2: only report terrain estimator innovations with valid rng value
2017-12-18 22:51:46 +00:00
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
3b32d583a9
AP_NavEKF2: Fix delta time use error
2017-12-12 11:39:38 +11:00
440d361aff
AP_NavEKF2: Limit range of delta times
2017-12-12 11:39:38 +11:00
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
4019a167a9
AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()
2017-11-29 09:47:14 +09:00
1b4705242c
AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available
2017-11-20 13:53:31 +09:00
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
3c04f4e4d1
AP_NavEKF2: add static create method
2017-09-26 03:01:21 +01:00
1e83ef3c44
AP_NavEKF2: use rangefinder backend accessors
2017-08-15 18:30:45 +01:00
f2f3067326
AP_NavEKF2: Add interface to control GPS vertical velocity use
2017-08-10 19:49:45 +10:00
dffa3d3b40
AP_NavEKF2: Fix possible compass nullptr dereference
2017-08-01 15:25:05 +01:00
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
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
5da3759ff4
AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
7e7f78d4b5
AP_NavEKF2: final mag reset at 2.5m
2017-07-08 08:39:43 +09:00
c69c5440a0
AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator
2017-06-26 14:58:06 +01:00
ce8e935896
AP_NavEKF2: Fix terrain estimator innovation consistency check
2017-06-20 02:08:56 +01:00
b7e6e6f95f
AP_NavEKF2: Fix bug in flow fusion for terrain estimation
...
Also remove unused class variables
2017-06-20 02:08:56 +01:00
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
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
7426bdb9b7
AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter
2017-06-16 12:05:20 +01:00
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
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
2017-06-14 12:44:41 +01:00
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
2017-06-14 12:44:41 +01:00
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
1985dcd366
AP_NavEKF2: Fix bug in declination fusion
2017-06-03 15:16:25 +01:00
3f6059397c
AP_NavEKF2: Add missing @RebootRequired: True
2017-05-27 01:55:55 +01:00
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
ce37517268
AP_NavEKF2: Improve comments, typos
2017-05-03 08:44:49 +09:00
2d4eee0cce
AP_NavEKF2: documentation update
2017-05-01 14:24:55 +10:00
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
e48f46c98b
AP_NavEKF2: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
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
ee5c032f27
AP_NavEKF2: added recording of timing statistics
2017-04-28 17:19:39 +10:00
596b20eb07
AP_NavEKF2: close perf counter when doing early return
2017-04-27 20:14:21 +10:00
88469ce80c
AP_NavEKF2: Reset covariance if bad mag fusion update
2017-04-27 20:14:21 +10:00
d799bacd7d
AP_NavEKF2: fixed reset of coviariance matrix
2017-04-27 18:33:25 +10:00
b255c7b370
AP_NavEKF: add setOrigin
2017-04-22 10:37:31 +09:00
9f3c2cb704
AP_NavEKF2: allow access to quaternion for each instance
2017-04-16 14:01:36 +10:00
c53125f3b5
AP_NavEKF2: apply height innovation floor only when barometer is in use
2017-03-24 14:42:36 -07:00
646d68c76d
AP_NavEKF2: Fix parameter metadata
2017-03-22 16:16:26 -07:00
44fa82d58c
AP_NavEKF2: Reference correct derivation
2017-03-13 11:31:51 +11:00
407a60e599
AP_NavEKF2: log correct GPS for replay
2017-03-13 11:31:51 +11:00
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
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
563be389ee
AP_NavEKF2: only use downward facing rangefinder
2017-02-27 15:18:10 +09:00
8b69f1708e
NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF
2017-02-22 11:53:42 -08:00
e7a34b0fb3
AP_NavEKF2: Add set_baro_alt_noise method
2017-02-21 11:26:14 +11:00
1a7b5538e5
AP_NavEKF2: Enable simple heading fusion to be set for specific cores
2017-02-15 19:17:53 +00:00
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
5cd403c0b9
AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero
2017-02-15 07:04:38 +09:00
a63eac8073
AP_NavEKF2: Add missing perf_end
2017-01-27 16:57:42 +09:00
7ea37029b6
AP_NavEKF2: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
715d094678
AP_NavEKF2: Correct display names, bitmask and units
2017-01-16 19:07:26 +00:00
c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25
2017-01-09 16:16:14 +00:00
9389ec2274
AP_NavEKF2: fix parameter descriptions
2017-01-09 13:30:30 +09:00
d408d25f92
More spelling stuff
2017-01-06 10:57:39 -08:00
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
653030b038
AP_NavEKF2: Changed if statements to switch statement.
...
AP_NavEKF2: Change indentation.
2016-12-26 10:15:55 +09:00
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
fe69d9a0ea
AP_NavEKF2: remove duplicate include
2016-12-18 10:28:04 +11:00
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
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
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
14a0155f5e
AP_NavEKF2: Allow threshold speed for range finder use to be adjusted
2016-12-09 21:17:28 +00:00
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
fc5f4c20cd
AP_NavEKF2: remove redundant check of beacon nullptr
...
thanks to muramura for spotting this
2016-12-01 14:53:26 +09:00
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
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
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
66a9093cd0
AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data
2016-11-30 17:56:51 +09:00
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
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
82854953e7
AP_NavEKF2: minor comment fix
2016-11-30 17:56:48 +09:00
14a73e499a
AP_NavEKF2: initialise two range beacon structures
2016-11-30 17:56:47 +09:00
2ee8250807
AP_NavEKF2: Changes from code review by @muramura
2016-11-30 17:56:46 +09:00
1f4606e48a
AP_NavEKF2: protect against null beacon
2016-11-30 17:56:45 +09:00
51ccfca31c
AP_NavEKF2: fix format of statustext for beacon init
2016-11-30 17:56:44 +09:00
ef03a85cd3
AP_NavEKF2: add range beacon interface and fusion method
2016-11-30 17:56:43 +09:00
0a177d04fd
AP_NavEKF2: Simply core switch implementation
...
Functionally equivalent
2016-11-24 19:58:10 +09:00
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
2016-11-24 19:58:07 +09:00
e9ea06bd10
AP_NavEKF2: minor comment fix
2016-11-24 19:58:03 +09:00
0df45703f1
AP_NavEKF2: Fix errors in position reset delta publishing
2016-11-24 19:57:47 +09:00
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
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
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
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
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
1890bbdafa
AP_NavEKF2: Don't correct GPS for zero position offset
2016-10-27 14:54:44 +11:00
f025c96e63
AP_NavEKF2: Don't correct range finder for zero position offset
2016-10-27 14:54:43 +11:00
9a0ce1d5eb
AP_NavEKF2: Don't correct flow sensor for zero position offset
2016-10-27 14:54:43 +11:00
b40016db62
AP_NavEKF2: Fix documentation errors
2016-10-27 14:54:43 +11:00
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
21dcf42c27
AP_NavEKF2: Add missing documentation
2016-10-27 14:54:43 +11:00
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
16f021c466
AP_NavEKF2: Correct range finder data for body frame position offset
2016-10-27 14:54:43 +11:00
e884e9cc6e
AP_NavEKF2: Correct GPS data for antenna body frame offset
2016-10-27 14:54:43 +11:00
064a106808
AP_NavEKF2: Get IMU accelerometer body position offset data
2016-10-27 14:54:42 +11:00
397033b7c3
AP_NavEKF2: Add flow sensor body position offset to data buffer
2016-10-27 14:54:42 +11:00
92c086b40e
AP_NavEKF2: Add rangefinder body position offset to data buffer
2016-10-27 14:54:42 +11:00
3148ad4623
AP_NavEKF2: Add GPS antenna position offset data to data buffer
2016-10-27 14:54:42 +11:00
fd905c23e1
AP_NavEKF2: Add body position offset to optical flow interface
2016-10-27 14:54:42 +11:00
152edf7189
Global: remove mode line from headers
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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
9779511425
AP_NavEKF2: Fix bug in median filter code
2016-10-19 19:45:00 +09:00
dac59cb5da
AP_NavEKF2: use exact matrix for trim rotation
2016-10-13 10:02:14 +11:00
5d09c78f34
AP_NavEKF2: Always perform optical flow takeoff check when receiving data
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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
a75a383ef2
AP_NavEKF2: Update protection for out of focus flow data
2016-10-10 14:49:41 +09:00
635826c056
AP_NavEKF2: Fix reporting of terrain estimator innovations
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Terrain height is relevant whenever optical flow data is present
2016-10-10 14:49:35 +09:00
b0072b587c
AP_NavEKF2: fix reporting of optical flow use status
2016-10-10 14:49:24 +09:00
ed9ecb28fb
AP_NavEKF2: Enable entry into relative position mode on start-up
2016-10-10 14:49:21 +09:00
e0b8c54194
AP_NavEKF: Update GPS type parameter description
2016-10-10 14:49:18 +09:00
f9018fcc1b
AP_NavEKF2: Enable simultaneous optical flow and GPS use
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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
ab55991b33
AP_NavEKF2: Report position jumps due to lane switches
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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
42cd8e9721
AP_NavEKF2: Handle yaw jumps due to core switches
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Based on work from Paul Riseborough (priseborough)
2016-09-25 18:24:11 -07:00
8da22e441b
Revert 3 commits about yaw reset core switch
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Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e4177fad065d1885bfd1b4e
2016-09-25 18:24:11 -07:00
2ebb81b02f
AP_NavEKF2: switching compass message to GCS downgraded to INFO
2016-09-21 21:42:44 +09:00
b6867e085d
AP_NavEKF2: Don't report range finder variance on mavlink if not required
2016-09-21 10:41:21 +09:00
cb1d3c7ed2
AP_NavEKF2: Allow for terrain gradient when using range finder for height
2016-09-13 17:45:03 +09:00
60d8adcca0
AP_NavEKF2: Fix height drift on ground using range finder without GPS
2016-09-13 17:44:59 +09:00
8797714203
AP_NavEKF2: Fix bug in handling of invalid range finder data
2016-09-13 17:44:43 +09:00
175faf1e41
AP_NavEKF2: Fix bug in published yaw reset value found during code review
2016-09-13 17:35:18 +09:00
77fad065d1
AP_NavEKF2: use a struct for all yaw step class variables
2016-09-13 17:35:16 +09:00
885bfd1b4e
AP_NavEKF2: Handle yaw jumps due to core switches
2016-09-13 17:35:14 +09:00
dd812cfc0c
AP_NavEKF2: added getPrimaryCoreIMUIndex()
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needed for correct AHRS gyro estimate
2016-09-05 12:53:53 +10:00
e6f36f04db
AP_NavEKF2: Enable automatic use of range finder height
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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
d1ecc63bf1
AP_NavEKF2: change priority of statustext messages
2016-07-29 13:19:51 +09:00
567d5cdbe6
AP_NavEKF2: use mavlink messages not printf for state change notifications
2016-07-19 12:16:51 +10:00
bd7bf21475
AP_NavEKF2: Speed improve switch-over to backup magnetometer
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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
e34cdc6666
AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers
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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
e2b8807260
AP_NavEKF2: Fix bug causing switching in and out of aiding
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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
fcc07b5560
AP_NavEKF2: Prevent multiple aiding mode changes per update
2016-07-19 12:16:50 +10:00
f4f347fb75
AP_NavEKF2: add missing parenthesis and console message
2016-07-19 12:16:50 +10:00
9a23152ee4
AP_NavEKF2: Fix bugs and consolidate aiding switch logic
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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
230ba2700f
AP_NavEKF2: fix documentation errors
2016-07-19 12:16:50 +10:00
341d070db8
AP_NavEKF2: Separate filter status update and get functions
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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
b1717649b1
AP_NavEKF2: remove combined NED local position interface
2016-07-19 12:16:49 +10:00
e374ec634d
AP_NavEKF2: Add separate horizontal/vertical local position interfaces
2016-07-19 12:16:49 +10:00
04e8726d8a
AP_NavEKF2: relax bias convergence check
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Enables bias convergence check to pass within 30 seconds when vehicle is static.
2016-07-19 12:16:48 +10:00
280395afa1
AP_NavEKF2: Don't declare ready to do aiding unless gyro bias is learned
2016-07-19 12:16:48 +10:00
169cd6625d
AP_NavEKF2: clean up output predictor
2016-07-19 12:16:48 +10:00
aaab250f13
AP_NavEKF2: Don't start GPS aiding until gyro calibration has stabilised
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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
8793c75da0
AP_NavEKF2: clean up mag field learned logic
2016-07-11 00:44:33 +10:00
e6592186fc
AP_NavEKF2: Tuning update
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Slow down magnetic field learning
2016-07-10 08:21:18 +10:00
10470b2dc1
AP_NavEKF2: fix bug in initialisation of declination co-variances
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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
6b04a81b8d
AP_NavEKF2: Fix plane in-flight yaw reset bug
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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
51dbed2338
AP_NavEKF2: remember mag field states between flight on same power cycle
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Remember the mag bias and earth field states learned during flight when the vehicle lands.
This improves performance for vehicles that do multiple flight on one power cycle
2016-07-10 08:21:18 +10:00
136df7cb5c
AP_NavEKF2: reduce declination errors on start of 3-axis fusion
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Reset co-variances for NE field states.
2016-07-10 08:21:18 +10:00
744f19cd2d
AP_NavEKF2: Improve scaling of output predictor I gain
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Provide consistent overshoot of 5% across a wider range of time constants and prevent selection of larger time constants causing 'ringing' in the position and velocity outputs.
2016-07-09 15:57:36 +10:00
a49c16d63c
AP_NavEKF2: Update output filter tuning
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Updated tuning to take advantage of corrected time delta dtEkfAvg
2016-07-09 15:57:36 +10:00
55dee347e0
AP_NavEKF2: Fix bug in averaged filter delta time
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Average EKF time delta was not being updated.
2016-07-09 15:57:36 +10:00
927186339c
AP_NavEKF2: Improved output predictor tracking
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Implement a PI feedback controller for velocity and position state tracking
2016-07-09 15:57:35 +10:00
253f744824
AP_NavEKF2: Collect output predictor tracking data
2016-07-09 15:57:35 +10:00
14bb4f4574
AP_NavEKF2: Publish output observer tracking errors
2016-07-09 15:57:35 +10:00
fa435d0323
AP_NavEKF2: Allow for faster accel bias change in-flight
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Fixes a problem observed in a flight log where rapid temperature change caused the accel bias to change faster than the EKF could keep up.
This allows the bias to be learned faster but with acceptable level of noise in the estimate
2016-07-09 15:57:35 +10:00
191c34612d
AP_NavEKF2: Fix bug in use of corrected IMU data
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IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
2016-07-09 15:57:35 +10:00
118d5b88b2
AP_NavEKF2: Clean up output observer and reduce pos vel time constant
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Previous Time constant was too large leading to poor tracking of EKF states in the presence of bad quality IMU data.
2016-07-09 15:57:35 +10:00
4a8689aa97
AP_NavEKF2: remove duplicate if statements from mag fusion
2016-06-28 14:20:13 +10:00
e117bedf6a
AP_NavEKF2: Adjust output observer tuning
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Use more accurate method by default.
Reduce overshoot on quaternion tracking
2016-06-28 14:20:13 +10:00
5c59922574
AP_NavEKF2: Fix bug that could publish bad compass offsets
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Magnetometer bias states will subject to larger errors early in flight before flight motion makes the offsets observable and the state variances reduce.
Adds a check on state variances.
Replaces the parameter check with a check of the actual filter fusion method being used.
2016-06-28 14:20:13 +10:00
165335b9e3
AP_NavEKF2: Improve ability to tune magnetic field learning
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Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
2016-06-28 14:20:12 +10:00
6523481c76
AP_NavEKF2: Improve tracking accuracy of output predictor
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Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
2016-06-28 14:20:12 +10:00
fe06606193
AP_NavEKF2: Ensure corrected IMU data used by EKF
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Don't try to pop new IMU data from the buffer unless we have written data.
Correct IMU data as soon as it is popped from the buffer
2016-06-28 14:20:12 +10:00
1400dc9d02
AP_NavEKF2: Add tuning parameters for magentic yaw fusion
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Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
2016-06-28 14:20:12 +10:00
dc6836988c
AP_NavEKF2: Improve ground based magnetic anomaly protection for copter
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The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
2016-06-28 14:20:12 +10:00
703f56908f
AP_NavEKF2: Correct comment
2016-06-28 14:20:12 +10:00
26815ace7a
AP_NavEKF2: Remove redundant logic check
2016-06-28 14:20:12 +10:00
bd8c804ab5
AP_NavEKF2: correct comments
2016-06-28 14:20:12 +10:00
ebae95d7f6
AP_NavEKF2: apply corrections to new inertial data when using for output prediction
2016-06-28 14:20:11 +10:00
2f709dfe86
AP_NavEKF2: improve inertial prediction
2016-06-28 14:20:11 +10:00
262c5fe56d
AP_NavEKF2: Make setter loop through all instances
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For setters where a success boolean is returned, return false if any instance fails.
2016-06-28 14:20:11 +10:00
8baf064317
AP_NavEKF2: setTakeoffExpected and setTouchdownExpected loop through instances
2016-06-28 14:20:11 +10:00
ec5c460584
AP_NavEKF2: Fix predicted nav reporting
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Predicted nav should never be false if current nav is true
2016-06-28 14:20:11 +10:00
99f481e098
AP_NavEKF2: always calcGpsGoodForFlight
2016-06-28 14:20:11 +10:00
3382e09580
AP_NavEKF2: add height constraint during takeoff
2016-06-28 14:20:11 +10:00
4bb46af861
AP_NavEKF2: Increase allowable gyro bias offset
2016-06-28 14:20:10 +10:00
24d8cc62e2
AP_NavEKF2: rework yaw and magnetic heading reset logic
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Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
2016-05-31 16:12:53 +10:00
a94a19bd09
AP_NavEKF2: Fix bug causing continual yaw resets
2016-05-28 06:52:11 +10:00
97e2203e70
AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core
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this reduces the risk that mag fusion errors will badly affect
attitude estimation.
2016-05-27 21:27:06 +10:00
de15928921
AP_NavEKF2: prevent potential arithmetic error in declination fusion
2016-05-27 09:00:41 +10:00
722eb0d706
AP_NavEKF2: Fix bug for start of wind speed estimation
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The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
2016-05-27 09:00:41 +10:00
ac329ec31c
AP_NavEKF2: use observation noise to set initial magnetic field variances
2016-05-27 09:00:41 +10:00
830751c0ae
AP_NavEKF2: remove un-wanted functionality from mag and yaw reset
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The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
2016-05-27 09:00:41 +10:00
11c6ea7ef6
AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets
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Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
2016-05-27 09:00:41 +10:00
cdd09df9ac
AP_NavEKF: Add function to zero attitude state co-variances
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When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
2016-05-27 09:00:41 +10:00
6d34ac5ceb
AP_NavEKF2: improve switch-over to use of mag field states
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Set initial variances to measurement uncertainties
Always perform a field and yaw reset
2016-05-27 09:00:40 +10:00
fe9ddfdfeb
AP_NavEKF2: remove code that prevents attitude updates after mag reset
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This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
2016-05-27 09:00:40 +10:00
fe85c68344
AP_NavEKF2: move yaw reset for no compass case
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Should not be in a function that performs reset on magnetic field states
2016-05-27 09:00:40 +10:00
da0622827d
AP_NavEKF: update tuning defaults
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Increase speed of scale factor learning
2016-05-27 09:00:40 +10:00
9eef97d108
AP_NavEKF2: use consistent parameter naming
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M_NSE is a measurement noise
P_NSE is a observation noise
I_GATE is an innovation gate
This also ensures the new parameter values required to use the EKF2 will be enforced.
2016-05-25 12:06:04 +10:00
74121fdaeb
AP_NavEKF2: fix bug preventing in-flight alignment
2016-05-21 15:13:53 +10:00
16cb7078cd
AP_NavEKF2: Fix misleading pre-flight status reporting
2016-05-21 15:13:53 +10:00
38d61f5281
AP_NavEKF2: Update status reporting to handle no-magnetometer startup
2016-05-21 15:13:53 +10:00
9aa3cdfaae
AP_NavEKF2: Update GPS yaw re-alignment function
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Updates to support initial alignment without magnetometer
2016-05-21 15:13:53 +10:00
e3c966661b
AP_NavEKF2: Remove unnecessary variance reset
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This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
2016-05-21 15:13:53 +10:00
1179c08473
AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw
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This happens if planes are flown without a compass
2016-05-21 15:13:53 +10:00
581c1aa0d4
AP_NavEKF2: Adjust attitude variance values used after a heading reset
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Because these errors are in body frame, a spherical error should be used to accommodate different orientations
2016-05-21 15:13:53 +10:00
5ec8d523f6
AP_NavEKF: remove unwanted co-variance reset
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The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
2016-05-21 15:13:53 +10:00
66e4d9d6e8
AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset
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Ensures consistent behaviour after resets and reduces attitude disturbances
2016-05-21 15:13:52 +10:00
cf8175a073
AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
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Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
2016-05-21 15:13:52 +10:00
08de4e6d95
AP_NavEKF: Do not perform start-up yaw alignment if no compass
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Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
2016-05-21 15:13:52 +10:00
d2694fe5dc
AP_NavEKF2: Remove duplicate transition into GPS aiding
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This decision is made in one place in setAidingMode()
2016-05-21 15:13:52 +10:00
7201f7d2fd
AP_NavEKF2: fix comment
2016-05-21 15:13:52 +10:00
64a8153b68
AP_NavEKF2: update function name
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The primary purpose of this function is re-alignment
2016-05-21 15:13:52 +10:00
addd213af0
AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude
2016-05-21 15:13:52 +10:00
a3b78e6231
AP_NavEKF2: update tuning defaults
2016-05-21 15:13:51 +10:00
65f63341d7
AP_NavEKF2: Improve numerical error protection in optical flow fusion
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Abort fusion of data if variances will become negative and publish the fault
2016-05-21 15:13:51 +10:00
42da33593d
AP_NavEKF2: fix yaw fusion numerical health reporting
2016-05-21 15:13:51 +10:00
6eb9d43507
AP_NavEKF2: add numerical error checking and isolation to mag decl fusion
2016-05-21 15:13:51 +10:00
b325c5faeb
AP_NavEKF2: add error checking and isolation to mag heading fusion
2016-05-21 15:13:51 +10:00
a0b1dc5325
AP_NavEKF2: add error checking and isolation to 3D amg fusion
2016-05-21 15:13:51 +10:00
51a3df0319
AP_NavEKF2: Add error checking and isolation to pos vel fusion
2016-05-21 15:13:51 +10:00
71b589c89c
AP_NavEKF2: extend fusion fault reporting coverage
2016-05-21 15:13:50 +10:00
0982bd0b2b
AP_NavEKF2: update parameter documentation
2016-05-21 15:13:50 +10:00
46a2993a0d
AP_NavEKF: use intuitive units for imu bias process noise parameters
2016-05-21 15:13:50 +10:00
8c374fd679
AP_NavEKF2: correct comments
2016-05-21 15:13:50 +10:00
6be9eaa524
AP_NavEKF2: use receiver estimated accuracy
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Adjust the GPS observation noise based on receiver accuracy output if available.
2016-05-21 15:13:50 +10:00
dddc213836
AP_NavEKF2: Open up tuning limits
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Done to assist tuning assessments
2016-05-21 15:13:50 +10:00
cf05e110fc
AP_NavEKF2: fix scaling error in use of IMU noise parameters
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Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
2016-05-21 15:13:50 +10:00
4080c6091d
AP_NavEKF2: fixed an assumption that _ahrs->get_compass() always works
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if MAG_ENABLE=0 in plane there is no compass
2016-05-19 14:16:40 +10:00
d67b1edf10
AP_NavEKF2: (potential) compiler warning of float to double promotion
2016-05-17 20:30:51 -07:00
64d14356b9
AP_NavEKF2: Fix typos
2016-05-13 19:20:06 -03:00
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
ea508f1b80
AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters
2016-05-09 12:26:57 +10:00
32af886ba9
AP_NavEKF2: use consistent logging timestamps for sensors
2016-05-07 18:27:22 +10:00
4e4c575f16
AP_NavEKF2: added have_ekf_logging()
2016-05-07 18:27:20 +10:00
b7ba0fa458
AP_NavEKF2: added ad-hoc logging example to EKF2
2016-05-07 18:27:20 +10:00
223c512188
AP_NavEKF2: added logging of sensor data in EKF2
2016-05-07 18:27:18 +10:00
f92279f436
AP_NavEKF2: allow logging of IMT data from inside EKF2
2016-05-07 18:27:17 +10:00
9c4dd024bf
AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA
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this fixes a problem where users of NMEA GPS receivers could not arm
with default EK2 parameters.
2016-05-05 19:46:33 +10:00
ac60901b0c
AP_NavEKF2: use vector comparison for new mag vector
2016-04-21 09:56:22 +10:00
97112ccd44
AP_NavEKF2: check mag instance id when returning mag offsets
2016-04-21 09:51:41 +10:00
1185cd1be7
AP_NavEKF2: move getMagOffsets into outputs
2016-04-21 09:51:41 +10:00
acfaafe276
AP_NavEKF2: detect changes to magnetometer offset parameters and reset states
2016-04-21 09:51:41 +10:00
1ecc206eee
AP_NavEKF2: Allow use in planes without a magnetometer
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Implements the following techniques to enable planes to operate without magnetometers.
1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth.
2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw.
3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster.
2016-04-15 08:31:47 +10:00
6d9ba8c527
AP_NavEKF2: Improve protection against ground based mag interference
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Reset the mag field states and yaw earlier than the normal 5m height threshold if toilet bowling is detected.
2016-03-17 10:55:11 +11:00
e40b87cd0e
AP_NavEKF2: replace header guard with pragma once
2016-03-16 18:40:42 +11:00
38b3625ed8
AP_NavEKF2: Fix bug in initial alignment calculation
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The bug caused the initial roll angle to be incorrect if the vehicle was powered up when inverted, causing long alignment times.
2016-03-02 09:10:09 +09:00
2888bdd6d5
AP_NavEKF: Protect against possible div by 0
2016-03-01 10:08:47 -03:00
7d6b926749
AP_NavEKF2: Improved magnetic heading fusion
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Use an Euler yaw heading that switches between a 321 and 312 rotation
sequence to avoid areas of singularity. Using Euler yaw decouples the
observation from the roll and pitch states and prevents magnetic
disturbances from affecting roll and pitch via the magnetometer fusion
process.
2016-03-01 10:08:47 -03:00
bb74371c58
AP_NavEKF2: Do not use GPS height if GPS accuracy is poor
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If we are using GPS height, revert back to using Baro height if the GPS accuracy is poor.
2016-03-01 15:13:13 +09:00
5148e41c1a
AP_Math: Cleaned macro definitions
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Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
7459bfb96b
AP_NavEKF2: Eliminate simple compass fusion singularities near +-90 deg pitch
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The use of yaw angle fusion during startup and ground operation causes problems with tail-sitter vehicle types.
Instead of observing an Euler yaw angle, we now observe the yaw angle obtained by projecting the measured magnetic field onto the the horizontal plain.
This avoids the singularities associated with the observation of Euler yaw angle.
2016-02-22 16:29:36 +11:00
4aefe1caee
AP_NavEKF2: Fix sign error in magnetic heading innovation calculation
2016-02-20 08:55:48 +11:00
475a2040a1
AP_NavEKF2: avoid use of undefined #defines
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Ensure EKF_DISABLE_INTERRUPTS is defined
Do not define MATH_CHECK_INDEXES, assume it is defined
2016-02-19 12:34:24 -02:00
047e9fabaf
AP_NavEKF2: Fix bug in simple heading fusion
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The innovation calculation should have been updated when the heading fusion maths was updated.
We now use a direct heading or yaw angle measurement in the derivation, not the difference between observed and published declination.
2016-02-19 15:35:11 +09:00
Paul Riseborough
Mark Whitehorn
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
Andrew Tridgell
chobits
Peter Barker
Randy Mackay
Pierre Kancir
Michael du Breuil
chobitsfan
murata
priseborough
bugobliterator
Samuel Tabor
Lucas De Marchi
Jonathan Challinger
Jacob Walser
Francisco Ferreira
Mathieu OTHACEHE
Ricardo de Almeida Gonzaga
dgrat