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
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
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
Peter Barker
c4dbbfcc07
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-22 19:07:36 +09:00
Peter Barker
d6348a0786
AP_NavEKF3: remove getBodyFrameOdomDebug
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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
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Not needed after we moved logging into NavEKF3
2021-06-07 09:25:53 +10:00
Paul Riseborough
124f016e5b
AP_NavEKF3: Use parameter to set baro ground effect dead-zone
2021-06-02 11:13:16 +09:00
Peter Barker
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Paul Riseborough
53c4b163ce
AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity
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Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
2021-03-23 10:05:59 +11:00
Paul Riseborough
6a603019d5
AP_NavEKF3: Add accessor function for yaw alignment status
2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
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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
Randy Mackay
f6cb0819ef
AP_NavEKF3: pre_arm_check may skip position checks
2021-01-26 10:46:49 +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
Andrew Tridgell
be4d10a95e
AP_NavEKF3: rework parameter handling
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and fixed indentation
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
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
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these were unused
2020-12-01 10:33:50 +11:00
Randy Mackay
adfc92523b
AP_NavEKF3: add configuredToUseGPSForPosXY
2020-11-25 21:00:07 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
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Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Randy Mackay
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
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
6c0bb6a198
AP_NavEKF3: add convert_params for source
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
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
Paul Riseborough
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
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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
Andrew Tridgell
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169
prevent duplicate EKF logging
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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
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Peter Barker
fc49b55b85
AP_NavEKF3: make coreBetterScore const
2020-11-03 10:39:35 +11:00
Randy Mackay
7b898ee001
AP_NavEKF3: minor comment and format fixes
2020-10-28 12:17:40 +09:00
Paul Riseborough
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
2020-10-26 11:03:50 +11:00
Peter Barker
83d784c22d
AP_NavEKF3: fix includes
2020-10-20 11:40:54 +11:00
Randy Mackay
eeb1a1846c
AP_NavEKF3: replace prearm_healthy with pre_arm_check
2020-10-07 11:53:07 +11:00
Andrew Tridgell
2bc7d17e7a
AP_NavEKF3: improved core comparison to check alignment
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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
Harshit Kumar Sankhla
edc3709653
AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter
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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
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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
chobits
4b8be2e535
AP_NavEKF3: fix comments
2020-08-04 18:16:18 +10:00
Paul Riseborough
8ff6780323
AP_NavEKF3: Clarify distinct use cases for 'takeoff expected'
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
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
Randy Mackay
0f212ca727
AP_NavEKF3: accept extnav at up to 50hz
2020-06-09 09:42:14 +10:00
Randy Mackay
93d8458d2a
AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check
2020-06-02 08:33:42 +09:00
chobits
c7817eaca1
AP_NavEKF3: support VISION_SPEED_ESTIMATE
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Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2020-06-02 08:33:42 +09:00
Randy Mackay
ef02942459
AP_NavEKF3: writeBodyFrameOdom accepts delay
2020-05-15 10:07:52 +09:00
Randy Mackay
c28fd27b02
AP_NavEKF3: writeExtNavData accepts delay
2020-05-15 10:07:52 +09:00
priseborough
c5e465aec9
AP_NavEKF3: add external nav system support
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includes decoupling height source from use of external nav data
2020-04-30 15:55:59 +09:00