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743 Commits

Author SHA1 Message Date
Randy Mackay 02f6ca51bc AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero 2021-05-28 08:08:08 +09:00
Paul Riseborough 9014afc9d4 AP_NavEKF3: Fix typo in comment 2021-05-11 10:37:08 +10:00
Paul Riseborough b9abef37c3 AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground. 2021-05-11 10:37:08 +10:00
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Paul Riseborough 1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough 7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 2021-03-23 10:05:59 +11:00
Paul Riseborough 44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough 918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 2021-03-23 10:05:59 +11:00
Paul Riseborough 073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough 4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
murata c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Peter Barker 4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough 4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough 246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough 6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough 3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough 912db3512e AP_NavEKF3: Fix EKF selection bug 2021-03-05 12:10:01 +11:00
Paul Riseborough 85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00
Paul Riseborough 295c1e1308 AP_NavEKF3: Reset covariances when falling back to non aiding mode 2021-03-05 12:10:01 +11:00
Paul Riseborough adae7365e1 AP_NavEKF3: Fix LLH reporting bug 2021-03-05 12:10:01 +11:00
Paul Riseborough ddadc45854 AP_NavEKF3: Reset states when falling back into non aiding mode. 2021-03-05 12:10:01 +11:00
Paul Riseborough b92eca7b66 AP_NavEKF3: Select startup aiding mode after landing without yaw sensor 2021-03-05 12:10:01 +11:00
Paul Riseborough 9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
murata ae565aef1a AP_NavEKF3: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Iampete1 8173cd442a AP_NavEKF3 log position offset as float in meters 2021-03-02 10:03:12 +11:00
Paul Riseborough 0971ef55a4 AP_NavEKF3: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Peter Barker 65b780fad5 AP_NavEKF3: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Patrick José Pereira 3b0dac3198 AP_NavEKF3: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Paul Riseborough 342e6b35fa AP_NavEKF3: Fix use of incorrect ballistic coefficient parameter 2021-02-22 13:21:03 +09:00
Paul Riseborough 7370cd9f00 AP_NavEKF3: Fix typo and update parameter description 2021-02-22 13:21:03 +09:00
Randy Mackay 1814524fcb AP_NavEKF3: fix using_external_yaw when using external nav 
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
 2021-02-09 11:35:39 +11:00
Randy Mackay f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
Peter Barker 3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Randy Mackay 4492e5024c AP_NavEKF3: enable ekf3 by default 2021-01-16 08:24:23 +09:00
Andy Piper 099d6aa72e AP_NavEKF3: add filter reset when vehicle is idle for too long 2021-01-15 15:47:20 +11:00
chobitsfan 26a3a02c81 AP_NavEKF3: use posxy_source in all places 2021-01-14 16:49:12 +09:00
chobits e73d28fe19 AP_NavEKF3: remove redundant extnav code 2021-01-12 21:56:36 +09:00
Andrew Tridgell 59fa794818 AP_NavEKF3: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Randy Mackay 647c568ab9 AP_NavEKF3: out-of-date comments removed 
GPS, Static and ExtNav yaw buffers have been separated
 2021-01-05 10:58:06 +11:00
Randy Mackay 27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay 5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay 6850b48ea1 AP_NavEKF3: add comments for yaw sensor variables 2021-01-05 10:58:06 +11:00
Andrew Tridgell e747edbcf2 AP_NavEKF3: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Randy Mackay 39be85cef4 AP_NavEKF3: integrate Source loss of init 2020-12-21 16:56:38 +09:00
Peter Barker 6dfd2f2ff9 AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication 2020-12-17 16:00:29 +09:00
Randy Mackay a2cca60beb AP_NavEKF3: constify EKFGSF_getYaw 2020-12-16 19:18:29 +11:00
Randy Mackay 0c3fcfd9d6 AP_NavEKF3: add missing break to case statements 2020-12-16 19:18:29 +11:00
Randy Mackay 9cb529cfd6 AP_NavEKF3: minor formatting fix 
also replace tab with spaces
 2020-12-16 19:18:29 +11:00
Paul Riseborough 908b348c31 AP_NavEKF3: Fix typo in enum label 2020-12-15 19:29:16 +11:00
Randy Mackay e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Randy Mackay c2edae905f AP_NavEKF3: simplify logic when updating yawAngDataStatic 2020-12-15 19:29:16 +11:00
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
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 9716b09cad AP_NavEKF3: minor indenting fix 2020-11-20 16:43:44 +09:00
Randy Mackay 6daaa06317 AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource 
also integrate useVelZSource
 2020-11-20 16:43:44 +09:00
Andrew Tridgell 72ee7d15e1 AP_NavEKF3: fixup for AP_DAL 2020-11-20 16:43:44 +09:00
Randy Mackay 73835f0c11 AP_NavEKF3: pre_arm_check includes sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay 849e94cc24 AP_NavEKF3: call sources align inactive sources 2020-11-20 16:43:44 +09:00
Randy Mackay ba9f60abc7 AP_NavEKF3: add getVelInnovationsAndVariancesForSource 2020-11-20 16:43:44 +09:00
Randy Mackay 58aa6086df AP_NavEKF3: always calculate GPS innovations and variances 2020-11-20 16:43:44 +09:00
Randy Mackay e7e91b1c3b AP_NavEKF3: always calculate extNav innovations and variances 2020-11-20 16:43:44 +09:00
Randy Mackay 6b2b5c4ca0 AP_NavEKF3: add CalculateVelInnovationsAndVariances 2020-11-20 16:43:44 +09:00
Randy Mackay 2505fd5c1c AP_NavEKF3: body and wheel odometry check source 2020-11-20 16:43:44 +09:00
Randy Mackay 1263648d88 AP_NavEKF3: beacon fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay 8a56ce49be AP_NavEKF3: optical flow fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay 4cadaa5194 AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source 2020-11-20 16:43:44 +09:00
Randy Mackay faed58a027 AP_NavEKF3: integrate Source for yaw 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 2020-11-20 16:43:44 +09:00
Andrew Tridgell 4c606a30bb AP_NavEKF3: use common structure names 2020-11-17 13:45:07 +11:00
Paul Riseborough aaf558f593 AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw 
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
 2020-11-16 16:01:13 +11:00
Paul Riseborough db86a5acc8 AP_NavEKF3: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell 5686dafeef AP_NavEKF3: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell 03f2e853ce AP_NavEKF3: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
Andrew Tridgell c14d19be68 AP_NavEKF3: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell 0bc77a3baf AP_NavEKF3: fixed whitespace 2020-11-10 16:15:45 +11:00
Andrew Tridgell 6ee1b23d28 AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 6fe05a9ab6 AP_NavEKF3: restore XKTV message 2020-11-10 16:15:45 +11:00
Andrew Tridgell f5275fd0ad AP_NavEKF3: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell eaa8474563 AP_NavEKF3: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell 21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 2020-11-10 16:15:45 +11:00
Andrew Tridgell f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell 31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 096aab9388 AP_NavEKF3: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Randy Mackay 2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Peter Barker fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Randy Mackay b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully 
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
 2020-10-28 19:06:53 +11:00
Randy Mackay 3b38aa6d7b AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD 
Using these existing functions removes some code duplicate
non-functional change
 2020-10-28 19:03:34 +11:00
Randy Mackay 7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Paul Riseborough f2af2b3458 AP_NavEKF3: Initialise tiltErrorVariance class variable 2020-10-26 11:03:50 +11:00
Paul Riseborough 43386a8eea AP_NAvEKF3: Use a const reference 2020-10-26 11:03:50 +11:00
Paul Riseborough 64a3d8fe4e AP_NavEKF3: Update documentation 2020-10-26 11:03:50 +11:00
Paul Riseborough 6c7820dd8d AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL 2020-10-26 11:03:50 +11:00
Paul Riseborough 90e928c32a AP_NavEKF3: Re-tune tilt alignment check 
New tilt error variance estimate is more accurate and larger than before.
 2020-10-26 11:03:50 +11:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Paul Riseborough 8a88dd23a2 AP_NavEKF3: Add missing generated code file for yaw fusion 2020-10-26 11:03:50 +11:00
Paul Riseborough 69632336e1 AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw 
Uses sympy derivation
 2020-10-26 11:03:50 +11:00
Paul Riseborough 4e41e9f5f1 AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order 
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
 2020-10-26 11:03:50 +11:00
Paul Riseborough fa10d114e4 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
 2020-10-26 11:03:50 +11:00
Paul Riseborough 73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough a97d030e4b AP_NavEKF3: Reset earth field variances when starting mag field estimation 2020-10-26 11:03:50 +11:00
Paul Riseborough 9168d0cd19 AP_NavEKF3: Initialise mag field variances to non zero values 2020-10-26 11:03:50 +11:00
Paul Riseborough 0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Paul Riseborough f81abd73d6 AP_NavEKF3: Update covariance prediction to yse SymPy generated equations 
Saves flash and variable space.
 2020-10-26 11:03:50 +11:00
Andrew Tridgell a4716fb9bf AP_NavEKF3: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay 2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay a16de76f57 AP_NavEKF3: correct extnav position as it is recalled from the buffer 
This makes extnav position correction consistent with the velocity correction
 2020-10-24 12:35:58 +11:00
Randy Mackay 71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Randy Mackay 3d4e1cd5c5 AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel 2020-10-24 08:49:33 +09:00
Randy Mackay e25579cc00 AP_NavEKF3: correct GPS for position as it is recalled from buffer 2020-10-24 08:49:33 +09:00
Peter Barker 0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker a1e7c91f8e AP_NaveEKF3: reduce code duplication in setup_core 
Less code.

Saves 40 bytes on PixRacer
 2020-10-22 08:47:08 +11:00
Randy Mackay e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay 231a958e51 AP_NavEKF3: minor comment fix 2020-10-21 11:40:35 +09:00
Randy Mackay e4ccd21dd7 AP_NavEKF3: consolidate extNav height source timeouts 2020-10-20 17:11:26 +09:00
Randy Mackay 6989a28bfc AP_NavEKF3: allow alt from other sources when using ExtNav 
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
 2020-10-20 17:11:26 +09:00
Randy Mackay 0cebde0632 AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set 
this non-functional change slightly reduces the number of places we set these variables
 2020-10-20 17:11:26 +09:00
Peter Barker ef505df78a AP_NavEKF3: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker 0eafe4b662 AP_NavEKF3: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker 83d784c22d AP_NavEKF3: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker 3dc67f09fd AP_NavEKF3: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Randy Mackay eeb1a1846c AP_NavEKF3: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay f5a04fd1a3 AP_NavEKF3: shorten buffer size send_text message length 2020-09-29 08:57:52 +09:00
Randy Mackay 7398529f6b AP_NavEKF3: minor format fix 2020-09-28 20:57:39 +09:00
Andrew Tridgell 8a4b0f858a AP_NavEKF3: reset body mag variances at key points 
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
 2020-09-20 09:25:57 +10:00
Andrew Tridgell e9185f526b AP_NavEKF3: add comments on state indexes 
make it easier to check indexes
 2020-09-20 09:25:57 +10:00
Andrew Tridgell 1f21d72c79 AP_NavEKF3: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Andrew Tridgell 2bc7d17e7a AP_NavEKF3: improved core comparison to check alignment 
this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching

this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
 2020-09-14 20:29:04 +10:00
Andrew Tridgell c03c43e52c AP_NavEKF3: use same mag switch pattern as EKF2 
based on Pauls suggested change
 2020-09-08 11:01:14 +10:00
Andrew Tridgell 3836b59041 AP_NavEKF3: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Andrew Tridgell 458ade86f5 AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla d7edc946b6 AP_NavEKF3: Relative Error based Lane-Switching 
Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
 2020-08-27 20:20:51 +10:00
Randy Mackay 46a7e96c48 AP_NavEKF3: readRngBcnData avoids array overflow from beacon count 2020-08-25 09:38:10 +09:00
Randy Mackay b314195f6e AP_NavEKF3: minor spelling fix 2020-08-25 09:38:10 +09:00
Randy Mackay b86e16e927 AP_NavEKF3: readRngBcnData gets minor formatting fix 2020-08-25 09:38:10 +09:00
Randy Mackay 384029d278 AP_NavEKF3: rngBcnDataNew made local 2020-08-25 09:38:10 +09:00
Randy Mackay 8c877f02af AP_NavEKF3: shrink beacon arrays and add assert 2020-08-25 09:38:10 +09:00
Randy Mackay d292ba028a AP_NavEKF3: increase beacon buffer to imu + 1 2020-08-25 09:38:10 +09:00
Randy Mackay 886a7d44a7 AP_NavEKF3: allow switch to ExtNav from optflow 2020-08-24 16:52:34 +09:00
Randy Mackay 6bf2057712 AP_NavEKF3: minor formatting fixes 2020-08-21 13:18:58 +09:00
Randy Mackay 4c40d2ac3f AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps 2020-08-21 13:18:58 +09:00
Randy Mackay 056a2de260 AP_NavEKF3: wheelOdmDataNew member made local 
this variable is never used outside the writeWheelOdom method
 2020-08-21 13:18:58 +09:00
Randy Mackay 3d5161f364 AP_NavEKF3: remove unused usingWheelSensors variable 
This variable was set but never consumed
 2020-08-21 13:18:58 +09:00
Randy Mackay c4b7a1c41a AP_NavEKF3: flowDataToFuse moved to local variable 
This variable is never used outside the SelectFlowFusion() method
This variable is always updated at the top of the function meaning subsequent calls to the function will always overwrite its previous value
 2020-08-21 13:12:10 +09:00
Randy Mackay 41acf555bf AP_NavEKF3: fix skipping of optflow fusion if mag fusion performed 2020-08-21 13:12:10 +09:00
Andrew Tridgell 44d5a923cc AP_NavEKF3: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
chobits c722367c6c AP_NavEKF3: move extNavVelNew to local variable 2020-08-12 15:40:38 +09:00
chobits 7ad9e3548f AP_NavEKF3: make reset source variable local 2020-08-10 09:43:28 +09:00
Peter Barker 6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
chobits 4b8be2e535 AP_NavEKF3: fix comments 2020-08-04 18:16:18 +10:00
Paul Riseborough c8bbbd2720 AP_NavEKF3: Fix bug preventing setting of mag field states 2020-07-25 20:46:04 +10:00
Randy Mackay d8f2d0cf8d AP_NavEKF3: max delay includes visual odometry 2020-07-21 09:31:52 +10:00
chobits 564244ce9a AP_NavEKF3: fix extnav vel reset 2020-07-17 14:13:06 +09:00
Andy Piper e35458cedf AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Paul Riseborough 24fccd5d87 AP_NavEKF3: Don't delay GPS use unnecessarily 
Fixed wing should not wait for bias state convergence after in-flight yaw alignment
 2020-07-07 15:33:58 +10:00
Paul Riseborough 9a4108f55e AP_NavEKF3: Simplify setting EK3_MAG_CAL 
Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
 2020-07-07 15:33:58 +10:00
Paul Riseborough 0dc598a6e1 AP_NavEKF3: Fix param description and comment 2020-07-07 15:33:58 +10:00
Paul Riseborough 21ea5d5039 AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor 2020-07-07 15:33:58 +10:00
Paul Riseborough f86c2e1db6 AP_NavEKF3: Don't fuse EKF-GSF yaw for FW flight 2020-07-07 15:33:58 +10:00
Paul Riseborough 354b551ef0 AP_NavEKF3: Handle repeated FW flight without magnetometer 
The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
 2020-07-07 15:33:58 +10:00
Paul Riseborough 8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Paul Riseborough d1a0c2eb30 AP_NavEKF3: Start EKF-GSF yaw estimator before fixed wing takeoff 2020-07-07 15:33:58 +10:00
Paul Riseborough b469a80633 AP_NavEKF3: Reset all co-variances when performing a yaw reset 2020-07-07 15:33:58 +10:00
Paul Riseborough d8c2096ad8 AP_NavEKF3: improve angle accuracy during no mag launch 2020-07-07 15:33:58 +10:00
Paul Riseborough f7c8ee807c AP_NavEKF3: Reset yaw estimator bias states at start of flight 
Enables yaw bias to be learned when sitting stationary on ground.
 2020-07-07 15:33:58 +10:00
Paul Riseborough bcd23e1063 AP_NavEKF3: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Peter Barker 2e55584417 AP_NavEKF3: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Randy Mackay ec5f84c926 AP_NavEKF3: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Randy Mackay dccc3e22d9 AP_NavEKF3: minor comment fix re RNG_USE_HGT 2020-06-24 21:16:50 +09:00
Paul Riseborough ed5b695c94 AP_NavEKF3: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas fca8d33c50 AP_NavEKF3: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas a3d140b949 AP_NavEKF3: reduce duplicated code. 2020-06-24 21:16:50 +09:00
Paul Riseborough 344d621a08 AP_NavEKF3: Add missing fallback to baro for range beacon use case 2020-06-24 21:16:50 +09:00
Paul Riseborough 906731222d AP_NavEKF3: Fix range aid switching logic 
Clarifies use of EK3_RANGE_USE_HGT and EK3_ALT_SOURCE parameters to control range finder use.
Setting EK3_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK3_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Pierre Kancir 431468452c AP_NavEKF3: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay ca0ae57b56 AP_NavEKF3: protect against position-delta sensor data being NaN 2020-06-19 13:46:52 +09:00
Randy Mackay 331f2f5fe7 AP_NavEKF3: writeExtNavData stores pos to buffer first 
This is a non-functional change
 2020-06-19 13:46:52 +09:00