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Commit Graph

583 Commits

Author SHA1 Message Date
Randy Mackay
90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Randy Mackay
2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay
6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay
990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay
43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay
014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay
3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker
7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell
d8c533e7ab AP_NavEKF2: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough
8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Randy Mackay
4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay
91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough
abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
c83e2d7c0e AP_NavEKF2: 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
Andrew Tridgell
6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell
3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough
6952d83f00 AP_NavEKF2: Fix casting build error 2020-04-24 09:43:23 +10:00
Paul Riseborough
0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough
de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Randy Mackay
35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay
85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker
f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay
fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker
903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Andrew Tridgell
9030590a88 AP_NavEKF2: 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
Siddharth Purohit
4cca1c307c AP_NavEKF2: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Peter Hall
e0eeb4f863 AP_NavEKF2: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
chobits
a54f24c8c0 AP_NavEKF2: switch to optflow if gps is jammed 2020-02-04 10:13:57 +09:00
Peter Barker
da3d3cc21b AP_NavEKF: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Hall
2970334c0d AP_NavEKF2: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker
524647d221 AP_NavEKF2: use instance number when logging rather than multiple message IDs 2019-12-17 12:22:07 +11:00
Peter Barker
060c851709 AP_NavEKF2: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker
369292f7f3 AP_NavEKF2: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker
239df941e5 AP_NavEKF2: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell
fce4d6952f AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Mark Whitehorn
5f6b3a1f5b AP_NavEKF2: clean up init failure handling 
only attempt to allocate memory once
 2019-11-26 11:59:10 +11:00
Peter Barker
99689f65f8 AP_NavEKF2: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker
9735684184 AP_NavEKF2: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn
23ee9eef5f AP_NavEKF2: fail prearm on any core setup failure 2019-11-05 11:23:54 +11:00
Mark Whitehorn
489ae83604 AP_NavEKF2: handle core setup failures 2019-11-05 11:23:54 +11:00
Mark Whitehorn
7c6630e216 AP_NavEKF2: EKF2 prefix for prearm failures and camelCase 2019-11-05 11:23:54 +11:00
Mark Whitehorn
95ea6ad807 AP_NavEKF2: provide reasons for init failures 2019-11-05 11:23:54 +11:00
Randy Mackay
cc5facf6d2 AP_NavEKF2: initialise pre-arm failure message 2019-10-31 09:51:27 +08:00