Randy Mackay
3c5bd942a6
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
2021-08-14 10:44:08 +09:00
Andrew Tridgell
c00fa705b7
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
2021-08-14 10:44:08 +09:00
Paul Riseborough
b2c24a0b58
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 19:07:36 +09:00
Paul Riseborough
762529a987
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-22 19:07:36 +09:00
Paul Riseborough
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
...
Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-22 19:07:36 +09:00
Paul Riseborough
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-22 19:07:36 +09:00
Paul Riseborough
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
Paul Riseborough
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-22 19:07:36 +09:00
Paul Riseborough
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
2021-07-22 19:07:36 +09:00
Paul Riseborough
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-22 19:07:36 +09:00
Paul Riseborough
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-22 19:07:36 +09:00
Paul Riseborough
82ed96a927
AP_NavEKF3: Adjust gyro bias process noise tuning
...
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-22 19:07:36 +09:00
Paul Riseborough
3714c1b2e2
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-22 19:07:36 +09:00
Paul Riseborough
a24df9d633
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
2021-07-22 19:07:36 +09:00
Paul Riseborough
5a3e0e7f17
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-22 19:07:36 +09:00
Paul Riseborough
827d871c85
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-22 19:07:36 +09:00
Paul Riseborough
aa13e86ac9
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-22 19:07:36 +09:00
Paul Riseborough
cb6371e952
AP_NavEKF3: Update covariance prediction equations
2021-07-22 19:07:36 +09:00
Paul Riseborough
4f8f187b81
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-22 19:07:36 +09:00
Randy Mackay
e139bfa1b8
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-22 19:07:36 +09:00
Peter Barker
c4dbbfcc07
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-22 19:07:36 +09:00
Andrew Tridgell
aadf179286
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
2021-07-22 19:07:36 +09:00
Andrew Tridgell
93e1bd0160
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-22 19:07:36 +09:00
Andrew Tridgell
9acb16acca
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
2021-07-22 19:07:36 +09:00
Andrew Tridgell
3df7c1a7c7
AP_NavEKF3: moved checkUpdateEarthField to be called less often
2021-07-22 19:07:36 +09:00
Andrew Tridgell
5543706626
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-22 19:07:36 +09:00
Andrew Tridgell
87b4ca47e8
AP_NavEKF3: convert code_gen.py to ftype
2021-07-22 19:07:36 +09:00
Andrew Tridgell
7bb971f07d
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
2021-07-22 19:07:36 +09:00
Andrew Tridgell
395d2f1f7e
AP_NavEKF3: convert EKF3 derivation to ftype
2021-07-22 19:07:36 +09:00
Andrew Tridgell
4f0f4608b9
AP_NavEKF3: allow for double EKF build
2021-07-22 19:07:36 +09:00
Paul Riseborough
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
2021-06-23 13:26:02 +09:00
Paul Riseborough
9d85a4292e
AP_NavEKF3: Ensure postion timeout flag and timer is always reset
2021-06-23 13:26:02 +09:00
Paul Riseborough
de3c6d6e5c
AP_NavEKF3: Fade each vert vel variance clip count over 1 second
2021-06-23 13:26:02 +09:00
Paul Riseborough
ac92182153
AP_NavEKF3: Clean up initialisation of boolean array
2021-06-23 13:26:02 +09:00
Paul Riseborough
b0763f04f1
AP_NavEKF3: Remove unwanted line
2021-06-23 13:26:02 +09:00
Paul Riseborough
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
2021-06-23 13:26:02 +09:00
Paul Riseborough
36160ba9ce
AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata
2021-06-23 13:26:02 +09:00
Paul Riseborough
5d00b7d042
AP_NavEKF3: Fix bug preventing height reset if badIMUdata
2021-06-23 13:26:02 +09:00
Paul Riseborough
e4eb8339d0
AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata
2021-06-23 13:26:02 +09:00
Josh Henderson
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
2021-06-22 12:01:10 +10:00
Josh Henderson
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
2021-06-22 12:01:10 +10:00
Peter Barker
d6348a0786
AP_NavEKF3: remove getBodyFrameOdomDebug
...
Not used after we moved logging to be within AP_NavEKF3
2021-06-07 09:28:52 +10:00
Peter Barker
dd3ab29b2f
AP_NavEKF3: remove getFilterGpsStatus
...
Not needed after we moved logging into NavEKF3
2021-06-07 09:25:53 +10:00
Siddharth Purohit
cd5b764fd8
AP_NavEKF3: use first usable compass index to set magSelectIndex
2021-06-02 17:10:19 +10:00
Paul Riseborough
a5a25411da
AP_NavEKF3: Remove unnecessary baro limiting
2021-06-02 11:13:16 +09:00
Paul Riseborough
124f016e5b
AP_NavEKF3: Use parameter to set baro ground effect dead-zone
2021-06-02 11:13:16 +09:00
Paul Riseborough
76d0dcc25c
AP_NavEKF3: Use common method for handling baro ground effect
2021-06-02 11:13:16 +09:00