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644 Commits

Author SHA1 Message Date
Andrew Tridgell
d5293b2030 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-12 08:01:18 +09:00
Henry Wurzburg
0f05cb06fa AP_NavEKF3: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Randy Mackay
0c7ad9511f AP_NavEKF3: FuseOptFlow only calculates range and velocity once 
was unnecessarily recalculating these values before fusion
 2022-02-09 08:42:29 +09:00
Andrew Tridgell
9dcff1a23f AP_NavEKF3: set rejecting_airspeed flag 
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
 2022-02-07 14:13:49 +11:00
Randy Mackay
cfcdc1e78f AP_NavEKF3: optflow terrain reset after 5sec 2022-02-02 18:04:43 +11:00
Randy Mackay
e16a64383f AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration 2022-01-29 08:26:12 +09:00
Randy Mackay
cff3794d25 AP_NavEKF3: minor spelling fixes 2022-01-17 11:30:47 +09:00
VMsunghwan
db9c1bbfaf AP_NavEKF3 : correct typo 
receverPosDownMax -> receiverPosDownMax
receverPosDownMin -> receiverPosDownMin
calcuate -> calculate
 2022-01-17 11:25:56 +09:00
Hwurzburg
970e5f829b AP_NavEKF3: remove user unintelligible GCS message 2022-01-12 08:11:18 +11:00
Andrew Tridgell
a33febd90a AP_NavEKF3: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2021-12-28 16:03:47 +11:00
Paul Riseborough
5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Peter Barker
0cb4425eb9 AP_NavEKF3: fix type, 'willbe' -> 'will be' 2021-12-17 09:44:57 +09:00
Peter Barker
15ec2c9c40 AP_NavEKF3: allow boards to override NavEKF3 features 2021-12-14 11:12:50 +11:00
Andrew Tridgell
468444bef9 AP_NavEKF3: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Peter Barker
308f4e99b4 AP_NavEKF3: correct structure used for logging 
XKF4 and XKF5 are clones of NKF4 and NKF5, which is why this worked
 2021-12-03 15:34:21 +09:00
Josh Henderson
a89f58a775 AP_NavEKF3: allow define for IMU_MASK_DEFAULT 2021-11-30 10:20:54 +11:00
Iampete1
e818decc39 AP_NavEKF3: update compass param discription 2021-11-30 08:14:43 +09:00
Andrew Tridgell
86c481b4b0 AP_NavEKF3: fixed switch to non-zero primary on disarm 
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
 2021-11-07 10:11:52 +11:00
Andrew Tridgell
282209e3e6 AP_NavEKF3: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Andy Piper
bc0101e446 AP_NavEKF3: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Peter Barker
670663a741 AP_NavEKF3: allow hwdef to override IMU default 2021-10-16 10:26:29 +11:00
Gone4Dirt
0abfde0a7d AP_NavEKF3: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
Josh Henderson
67eb6d17eb AP_NavEKF3: initialize stateStruct.quat to unit length 2021-09-28 19:09:16 +10:00
Paul Riseborough
c828bdfbc9 AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU 2021-09-23 18:55:28 +10:00
Paul Riseborough
8429c66860 AP_NavEKF3: Make subsequent bad IMU event detections faster 2021-09-23 18:55:28 +10:00
Paul Riseborough
458c67639d AP_NavEKF3: Force velocity state to follow GPS when IMU data is bad 2021-09-23 18:55:28 +10:00
Paul Riseborough
c0d88e2673 AP_NavEKF3: Fix vertical velocity reset 
Fixes bug that prevents the vertical velocity being reset to the GPS if the position aiding has already timed out and improves sensitivity of the bad IMU data check.
 2021-09-23 18:55:28 +10:00
Paul Riseborough
17c2ba5ac1 AP_NavEKF3: Fix bug causing too frequent resets if bad IMU data detected 2021-09-23 18:55:28 +10:00
Peter Barker
b66fd214f0 AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Paul Riseborough
e9c339a0a0 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-21 17:16:36 +10:00
Josh Henderson
3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Peter Barker
dabba69b5e AP_NavEKF3: improve description of XKF4/NKF4 fields 
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
 2021-09-08 17:06:12 +10:00
Randy Mackay
63e579d738 AP_NavEKF3: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay
0edfd2634f AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay
d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay
85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay
11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay
914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay
5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay
f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
TunaLobster
d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Andrew Tridgell
5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Pierre Kancir
8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Randy Mackay
2a2cde68ef AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-10 09:44:57 +10:00
Andrew Tridgell
ff59e0f72f AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-09 19:19:21 +10:00
Randy Mackay
2f1444772b AP_NavEKF3: XKF3.IYAW logs in degrees 2021-08-09 08:10:42 +09:00
Randy Mackay
d961186e0c AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-06 07:00:46 +09:00
Andrew Tridgell
8681ecebfd AP_NavEKF3: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker
c34284b6eb AP_NavEKF3: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Paul Riseborough
17ead96250 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-22 18:20:45 +10:00