Peter Barker
2bb6846d47
AP_NavEKF2: stop including AP_DAL.h in header
...
it's not needed and will slow compilation down
2024-09-06 08:52:01 +10:00
Andrew Tridgell
949975a856
AP_NavEKF2: 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
Peter Barker
dec4ba86b6
AP_NavEKF2: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Andrew Tridgell
6aca0bb08a
AP_NavEKF2: allow for double EKF build
2021-07-10 07:20:41 +10:00
Josh Henderson
0561637350
AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying
2021-06-22 12:01:10 +10:00
Josh Henderson
d7ecd6883d
AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf2
2021-06-22 12:01:10 +10:00
Andrew Tridgell
32b079911f
AP_NavEKF2: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Andrew Tridgell
7313e9eb0f
AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Paul Riseborough
e5e8d0ba3c
AP_NavEKF2: Don't update yaw estimator with bad GPS
2020-11-16 16:01:13 +11:00
Andrew Tridgell
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
...
saves a bit of flash space
2020-11-10 16:15:45 +11:00
Andrew Tridgell
8591b31665
AP_NavEKF2: cleanup unused code
2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82
AP_NavEKF2: 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
Andrew Tridgell
35e95d3328
AP_NavEKF2: reset body mag variances at key points
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reset on sensor switch or when changing to 3D fusion
2020-09-20 09:25:57 +10:00
Andrew Tridgell
534e63e2fa
AP_NavEKF2: fixed init of earth state mag variances
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we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
2020-09-20 09:25:57 +10:00
Peter Barker
032b7c81e5
AP_NavEKF2: correct includes
2020-08-07 19:20:07 +10:00
Paul Riseborough
ccaa4d6aa9
AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data
2020-07-07 15:33:58 +10:00
chobits
dee095b4a4
AP_NavEKF2: support VISION_SPEED_ESTIMATE
2020-06-01 17:51:24 +09:00
Paul Riseborough
c94de61e29
AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally
...
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
2020-05-14 10:40:48 +10:00
chobits
a7aa43f5d5
AP_NavEKF2: ext nav will not reset yaw if compass is used
2020-05-14 08:04:55 +09:00
Randy Mackay
014c889ceb
AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms
2020-04-24 18:16:52 +09:00
Paul Riseborough
abc821ad36
AP_NavEKF2: Split GSF yaw estimator processing
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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
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
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
Andrew Tridgell
e7163afe06
AP_NavEKF2: review fixes
...
thanks Paul!
2019-07-29 10:08:22 +10:00
Andrew Tridgell
c57b25b4c9
AP_NavEKF2: ensure that EKF origin stays in sync on all cores
...
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
2019-07-29 10:08:22 +10:00
Andrew Tridgell
a01faa2f00
AP_NavEKF2: use origin lat for earth rates
...
home may not yet be set when this code is run, so using home may be
invalid
2019-07-29 10:08:22 +10:00
Michael du Breuil
892b687c09
AP_NavEKF2: Fix AP_GPS.h include
2019-06-18 10:02:05 +10:00
Paul Riseborough
8038efc152
AP_NavEKF2: Flow use parameter updates
2019-04-02 10:51:12 +11:00
Paul Riseborough
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
2019-04-02 10:51:12 +11:00
Arjun Vinod
a0e7c37f8c
AP_NavEKF2: fixed typos
2019-02-22 10:21:35 +11:00
Tom Pittenger
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
2019-02-17 12:59:52 -08:00
Peter Barker
3774aa6619
AP_NavEKF2: remove default clause in setAidingMode
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All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
2018-10-03 17:49:43 +01:00
Andrew Tridgell
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
2018-07-14 17:49:52 +10:00
priseborough
12fd19ea26
AP_NavEKF2: Clarify definition for gps_glitching flag
2018-03-27 20:28:57 +09:00
Paul Riseborough
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
2018-03-27 20:28:42 +09:00
Peter Barker
9c8466dc03
AP_NavEKF2: use GPS singleton
2017-12-27 00:58:02 +00:00
priseborough
ac568bae53
AP_NavEKF2: Initialise EKF origin height to field elevation
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Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
2017-07-17 02:22:02 +01:00
Peter Barker
5da3759ff4
AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
priseborough
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
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Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
Randy Mackay
b255c7b370
AP_NavEKF: add setOrigin
2017-04-22 10:37:31 +09:00
priseborough
b7c4945000
AP_NavEKF2: Fix bug preventing reset to GPS
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This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
2017-03-06 17:11:39 +11:00
priseborough
1a7b5538e5
AP_NavEKF2: Enable simple heading fusion to be set for specific cores
2017-02-15 19:17:53 +00:00
priseborough
a1d41edc4e
AP_NavEKF2: Use the same mag fusion method for all cores
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The original reason for using a different method for the second core is no longer valid.
2017-02-15 19:01:10 +00:00
murata
653030b038
AP_NavEKF2: Changed if statements to switch statement.
...
AP_NavEKF2: Change indentation.
2016-12-26 10:15:55 +09:00
priseborough
6dc7d25fde
AP_NavEKF2: Fix bug in loss of aiding fallback
...
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
2016-12-21 18:08:39 +11:00
priseborough
2ee8250807
AP_NavEKF2: Changes from code review by @muramura
2016-11-30 17:56:46 +09:00
Randy Mackay
51ccfca31c
AP_NavEKF2: fix format of statustext for beacon init
2016-11-30 17:56:44 +09:00