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35,066 Commits 71 Branches 509 Tags 758 MiB
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51 Commits

Author SHA1 Message Date
Michael du Breuil 25ef5fed82 AP_NavEKF3: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Peter Barker 281fad53c2 AP_NavEKF3: always set EKF control limits, even with no cores 2018-10-09 10:47:38 +11:00
Peter Barker be9235a581 AP_NavEKF3: 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
Randy Mackay 3d72022f6e EKF: modify ALT_SOURCE param description 
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
 2018-07-18 08:31:09 +09:00
Peter Barker 6bf5ffdb6d AP_NavEKF3: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker 901ba0034c AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton 2018-04-18 13:50:55 +09:00
Peter Barker a0d874baa2 AP_NavEKF3: const accessors 2018-04-07 09:56:18 +09:00
Peter Barker 6791808ac6 AP_NavEKF3: remove unneeded initialisations 
AP_NavEKF3 should never be allocated in uninitialised memory
 2018-04-07 09:54:21 +09:00
Peter Barker d38ff1dd2c AP_NavEKF3: initialise EKF3 constants in declaration not constructor 2018-04-07 09:54:21 +09:00
Peter Barker 55b8a2288e AP_NavEKF3: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
bugobliterator ea2a880d8a AP_NavEKF3: allocate from MEM_FAST region 2018-01-15 11:46:02 +11:00
Peter Barker 5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
priseborough 2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough c7f6d52065 AP_NavEKF3: Add wheel encoder odometry 
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
 2017-07-27 16:52:27 +09:00
priseborough 593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error 
Also adjust default values based on replay analysis.
 2017-07-27 16:52:25 +09:00
priseborough 0827b13feb AP_NavEKF3: 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 93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 6a01c65197 AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC) 2017-06-16 12:05:20 +01:00
priseborough 49ec2b4032 AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK 
Turn off by default.
Update parameter description.
 2017-06-14 12:44:41 +01:00
priseborough 3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 2b97d0f5c9 AP_NavEKF3: Add public accessor for state variances 2017-06-14 12:44:41 +01:00
priseborough 9da3caca47 AP_NavEKF3: 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
Dr.-Ing. Amilcar Do Carmo Lucas d3a57b5965 AP_NavEKF3: 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
Andrew Tridgell a04aff7a7d AP_NavEKF3: 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
Andrew Tridgell adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell 248773a7c8 AP_NavEKF3: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough 18927395d7 AP_NavEKF3: log correct GPS for replay 2017-03-13 11:31:51 +11:00
Randy Mackay a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
Michael du Breuil 1de198883d AP_NavEKF3: Check gps vertical accuracy for aligning the GPS 2017-02-22 11:53:42 -08:00
Francisco Ferreira 23f959b92f
AP_NavEKF3: fix copied parameter descriptions 2017-02-15 19:20:04 +00:00
priseborough de7a679534 AP_NavEKF3: Enable simple heading fusion to be set for specific cores 2017-02-15 19:09:45 +00:00
priseborough 4d958952f6 AP_NavEKF3: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
priseborough 7e8f3fca53 AP_NavEKF3: Address review comments 
Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
 2017-01-27 16:57:42 +09:00
priseborough 59ee074560 AP_NavEKF3: Remove EKF2 names 2017-01-27 16:57:42 +09:00
priseborough b862f0d7ad AP_NavEKF3: Enable use of GPS delay value from returned by the driver 
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
 2017-01-27 16:57:42 +09:00
priseborough 8d1733cee6 AP_NavEKF3: Use FIR filtered airspeed 
Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
 2017-01-27 16:57:42 +09:00
priseborough 9261c34097 AP_NavEKF3: Update default GPS delay 
This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.
 2017-01-27 16:57:42 +09:00
priseborough ed5039823f AP_NavEKF3: Adapt sensor buffer lengths 
Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
 2017-01-27 16:57:42 +09:00
priseborough 92b8c33b19 AP_NavEKF3: publish 3-state range beacon estimator states 2017-01-27 16:57:42 +09:00
priseborough e5e4883c72 AP_NavEKF3: Fix GPS use inhibit interface documentation 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas cae557fb4c AP_NavEKF3: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 195e32c2fc AP_NavEKF3: fix some parameter descriptions 2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
priseborough f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00
priseborough 7d4a50f483 AP_NavEKF3: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-19 08:07:14 +11:00
priseborough cd6fd0ea45 AP_NavEKF3: Improvements to range finder selection logic 
Enables the horizontal speed at which we switch from range finder to alternate to be adjusted.
Does not switch from range finder to alternate based on speed when speed estimate is invalid.
 2016-12-19 08:07:14 +11:00
priseborough 7202acc1b5 AP_NavEKF3: Default EKF3 to off 
Will revert this and set EKF2 to off by default after testing is completed on all platform types
 2016-12-19 08:07:09 +11:00