Andrew Tridgell
1b4fb403f2
AP_NavEKF2: added EK2_OPTIONS
...
this allows for disabling of external navigation data (such as visual
odomotry) in EKF2. This is very useful when using EKF2 as a fallback
and truth reference when testing visual odomotry on EKF3
2024-08-21 06:32:34 +10:00
Peter Barker
e2f18d9217
AP_NavEKF2: remove unused initFailureReason
2024-07-01 09:04:05 +09:00
Peter Barker
38c6eb24cd
AP_NavEKF2: avoid using struct Location
...
clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
2023-02-04 22:51:54 +11:00
Andrew Tridgell
fadb9007d0
AP_NavEKF2: added get_enable()
2022-12-20 10:34:22 +11:00
Stephen Dade
c0df999094
AP_NavEKF2: Add support for fixed height optical flow
2022-12-01 08:03:47 +09:00
jackhong12
4a4f361a17
all: use CLASS_NO_COPY() macro
2022-10-04 11:23:04 +11:00
Peter Barker
c46a50f428
AP_NavEKF2: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
Peter Barker
04a64a20fa
AP_NavEKF2: remove instance id from EK2 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
2022-04-12 10:25:29 +10:00
Andrew Tridgell
0d8cf00c5a
AP_NavEKF2: add accessor for GSF yaw estimator
2021-11-01 09:00:27 +11:00
Randy Mackay
f8399fe3de
AP_NavEKF2: remove unused EK2_GSF_DELAY param
2021-08-06 07:00:46 +09:00
Peter Barker
b5f165ce2e
AP_NavEKF2: pass NavEKF failures back up to callers
2021-07-21 18:02:26 +10:00
Andrew Tridgell
32b079911f
AP_NavEKF2: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Peter Barker
445a461f12
AP_NavEKF2: remove getFilterTimeouts access methods
2021-01-22 13:04:36 +11:00
Peter Barker
dddb285209
AP_NavEKF2: remove internal-only getTiltError method
2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068
AP_NavEKF2: remove unused getAccelNED method
2021-01-21 21:26:17 +11:00
Paul Riseborough
b372d62f35
AP_NavEKF2: Add accessor function for body frame airspeed vector
2020-12-11 15:21:41 +11:00
Peter Barker
d600b87454
AP_NavEKF2: make logging a core concern
2020-12-01 13:06:04 +11:00
Andrew Tridgell
7313e9eb0f
AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Randy Mackay
4087d7b792
AP_NavEKF2: add configuredToUseGPSForPosXY
2020-11-25 21:00:07 +11:00
Paul Riseborough
248ef92ed7
AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw
...
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
8591b31665
AP_NavEKF2: cleanup unused code
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169
prevent duplicate EKF logging
...
vehicle code sometimes tries to log the same data twice
2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82
AP_NavEKF2: 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
Peter Barker
84c92b717f
AP_NavEKF2: make coreBetterScore const
2020-11-03 10:39:35 +11:00
Randy Mackay
fccc1fcb72
AP_NavEKF2: minor comment fix
2020-10-28 12:17:22 +09:00
Peter Barker
c90265f94d
AP_NavEKF2: fix includes
2020-10-20 11:40:54 +11:00
Randy Mackay
b2d4622320
AP_NavEKF2: replace prearm_healthy with pre_arm_check
2020-10-07 11:53:07 +11:00
Andrew Tridgell
067001bd61
AP_NavEKF2: take into account alignment when comparing cores
...
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
2020-09-14 20:29:04 +10:00
Peter Barker
081c0bbfe0
AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods
2020-07-07 10:50:41 +10:00
Paul Riseborough
502b96f49c
AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor
2020-06-24 21:16:50 +09:00
chobits
dee095b4a4
AP_NavEKF2: support VISION_SPEED_ESTIMATE
2020-06-01 17:51:24 +09:00
Randy Mackay
f26a2a47b4
AP_NavEKF2: writeExtNavData accepts delay
2020-05-15 10:07:52 +09:00
Andrew Tridgell
c9ffe8dcea
AP_NavEKF2: use set_enable() to set enable flag
2020-04-29 07:36:55 +10:00
Randy Mackay
90db3d6317
AP_NavEKF2: minor comment fix
2020-04-27 19:15:43 +09:00
Randy Mackay
990313371d
AP_NavEKF2: minor comment fixes
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
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
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
8749f30c64
AP_NavEKF2: external nav pos offsets from AP_VisualOdom library
2020-04-14 10:28:03 +10:00
Peter Barker
da3d3cc21b
AP_NavEKF: stop taking ahrs in constructor
2020-01-21 11:53:18 +11:00
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
Mark Whitehorn
5f6b3a1f5b
AP_NavEKF2: clean up init failure handling
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only attempt to allocate memory once
2019-11-26 11:59:10 +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