Commit Graph

127 Commits

Author SHA1 Message Date
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 2020-11-20 16:43:44 +09:00
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 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 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 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 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
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
Randy Mackay 3d5161f364 AP_NavEKF3: remove unused usingWheelSensors variable
This variable was set but never consumed
2020-08-21 13:18:58 +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 564244ce9a AP_NavEKF3: fix extnav vel reset 2020-07-17 14:13:06 +09:00
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 d8c2096ad8 AP_NavEKF3: improve angle accuracy during no mag launch 2020-07-07 15:33:58 +10:00
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
Randy Mackay 93d8458d2a AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check 2020-06-02 08:33:42 +09:00
Randy Mackay d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
chobits c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2020-06-02 08:33:42 +09:00
Randy Mackay 6c20264d9c AP_NavEKF3: minor comment fix 2020-05-15 11:23:07 +09:00
Randy Mackay 5ad3611142 AP_NavEKF3: improve ext nav glitch handling
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
2020-05-15 11:23:07 +09:00
Randy Mackay 183ce50138 AP_NavEKF3: check GPS used before resetting pos due to GPS receiver change 2020-04-30 15:55:59 +09:00
Randy Mackay f79d5d2d2c AP_NavEKF3: handle external nav position reset 2020-04-30 15:55:59 +09:00
Randy Mackay d763597065 AP_NavEKF3: compensate for visual odometry sensor position 2020-04-30 15:55:59 +09:00
priseborough c5e465aec9 AP_NavEKF3: add external nav system support
includes decoupling height source from use of external nav data
2020-04-30 15:55:59 +09:00
Andrew Tridgell 216935c1f2 AP_NavEKF3: fixed loss of GPS fusion
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
2020-04-24 09:43:23 +10:00
Paul Riseborough 410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate

AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters

Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.

AP_NavEKF3: Prevent constant mag anomaly yaw resets

Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.

AP_NavEKF3: Add option to fly without magnetometer

AP_NavEKF3: Rework emergency yaw reset logic

Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.

AP_NavEKF3: Fix vulnerability to lane switch race condition

Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.

AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours

Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.

AP_NavEKF3: Update EK3_MAG_CAL documentation

AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag

AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor

Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-04-24 09:43:22 +10:00
Randy Mackay 7470bc9994 AP_NavEKF3: CorrectGPSForAntennaOffset made const
also reduce scope of call to slightly reduce CPU load
2020-04-21 10:21:23 +10:00
Randy Mackay 22c9081c83 AP_NavEKF3: minor comment fix 2020-04-15 19:35:30 +09:00
Daniel Magree b3ff81648b Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse 2020-03-25 21:52:49 +11:00
Andrew Tridgell 772438f3ed AP_NavEKF3: fixed use of antenna position when switching GPS primary
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
2020-02-19 18:12:54 +11:00
Peter Barker 4431d01230 AP_NavEKF3: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker fe8599d6d7 AP_NavEKF3: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Paul Riseborough 5b1d9ed868 AP_NavEKF3: Add missing vertical position derivative calculation 2019-10-18 11:15:25 +09:00
Randy Mackay 0e1a2efb7c EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Andrew Tridgell fc65e04ef2 AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
2019-07-30 08:23:21 +10:00
Andrew Tridgell 634db441f8 AP_NavEKF3: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell 92783bccfa AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell 3f9e48951b AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign
use it to determine how to handle a height datum reset
2019-07-07 19:20:32 +10:00
Andrew Tridgell b9a5794671 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
2019-07-07 19:20:32 +10:00
Michael du Breuil b624f6f008 AP_NavEKF3: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Arjun Vinod f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger 55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Peter Barker 7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
priseborough c96bc54254 AP_NavEKF3: correctly use wheel odometry speed for pitched rovers 2017-10-31 08:11:05 +09:00
priseborough ee6b43aabf AP_NavEKF3: Fix bugs in use of wheel encoder data
Found by pavloblindnology
2017-10-28 10:58:01 +09:00
Peter Barker 63440800fc AP_NavEKF3: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
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 08a3f55c90 AP_NavEKF3: Fix error in scaling of observation error 2017-07-27 16:52:25 +09:00
Peter Barker 93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
priseborough a1c117360c AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
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
murata 46cba2c970 libraries: Delete the setting value for specific editor. 2017-05-11 13:18:41 -07:00
priseborough fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Jonathan Challinger c7a73e84d6 AP_NavEKF3: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
priseborough 01551a4423 AP_NavEKF3: 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
Randy Mackay 3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
priseborough 2e5ac40ef6 AP_NavEKF3: remove unnecessary stdio includes 2017-01-27 16:57:42 +09:00
priseborough 8688d1ddac AP_NavEKF3: Improve range finder selection logic
Fixes bug that could leave it locked out of range finder use.
2017-01-27 16:57:42 +09:00
priseborough 7c53573a0c AP_NavEKF3: Allow range beacon use with intermittent GPS 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
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 39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
2016-12-19 08:06:47 +11:00