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abc821ad36
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567 Commits

Author SHA1 Message Date
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
Mark Whitehorn
6e73feca5c AP_NavEKF2: add prearm failure message for null core pointer 2019-10-29 11:59:29 +08:00
Randy Mackay
e32a8556b2 AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled 2019-10-22 07:15:48 +08:00
Randy Mackay
e2d3afaaa7 AP_NavEKF2: reduce EK2_HRT_FILT max to 30 2019-10-18 11:15:25 +09:00
Paul Riseborough
c26c6fd078 AP_NavEKF2: Add missing vertical position derivative calculation 
Use a third order order complementary filter to estimate the rate of change of vertical position output.
 2019-10-18 11:15:25 +09:00
Andrew Tridgell
cbe34320b5 AP_NavEKF2: fixed build 
broken by recent common variable change
 2019-10-01 17:35:26 +10:00
Andrew Tridgell
f7e138bddd AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-01 15:39:03 +10:00
Andrew Tridgell
8dd2119b14 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-09-28 08:57:26 +10:00
Andrew Tridgell
163efd0df5 AP_NavEKF2: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Peter Barker
952d4d2cbc AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2019-09-25 12:54:55 +10:00
Andrew Tridgell
d40d812ea4 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2019-09-24 14:59:17 +10:00
Andrew Tridgell
9226899c6f AP_NavEKF2: added comment (review request) 2019-09-24 12:51:54 +10:00
Andrew Tridgell
255981c60c AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
96c6544997 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
0041874826 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
1d47f9186e AP_NavEKF2: fixed use of old irqsave() API 2019-09-21 15:36:47 +10:00
Peter Barker
3619856fc9 AP_NavEKF2: correct return of empty prearm string 2019-09-19 08:47:47 +09:00