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105 Commits

Author SHA1 Message Date
Clyde McQueen 630d3fa8a7 AP_NavEKF3: log mag fusion selection to XKFS 2024-07-11 16:16:27 +10:00
Clyde McQueen 0e6543f0e4 AP_NavEKF3: sub update for yaw reset and inFlight checks 
on sub, request final yaw reset after diving 0.5m.
Also update rangefinder tests for sub
 2024-06-25 18:09:37 +10:00
Paul Riseborough 6baeb1cd9d AP_NavEKF3: Fix bug causing in flight yaw align to not complete 2024-06-09 14:25:02 +10:00
Paul Riseborough 87bf8d9997 AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor 2024-06-09 14:25:02 +10:00
Paul Riseborough 3c8b3be7a7 AP_NavEKF3: Change yaw source to stop compass use when calibrating 2024-04-23 15:19:56 +09:00
Randy Mackay 65b4db5ede AP_NavEKF3: define Yaw alignment min GPS speed per vehicle 2024-03-26 10:01:42 +11:00
Paul Riseborough 5ab17496f6 AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-17 08:48:03 +10:00
Paul Riseborough 7063b385cf AP_NavEKF3: Reduce use of GSF yaw for planes with no compass 2023-04-17 08:48:03 +10:00
Peter Barker 7f4c5a9a84 AP_NavEKF3: tidy variable declarations 2023-01-25 19:58:54 +11:00
Peter Barker da95985dd7 AP_NavEKF3: remove mag_state state 
we don't need to persist this across multiple calls as we now fuse all axes on the one step.

I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
 2023-01-25 19:58:54 +11:00
Henry Wurzburg 0f05cb06fa AP_NavEKF3: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Josh Henderson 3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Randy Mackay 2a2cde68ef AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-10 09:44:57 +10:00
Andrew Tridgell 885e518741 AP_NavEKF3: allow for double EKF build 2021-07-10 07:20:41 +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 9014afc9d4 AP_NavEKF3: Fix typo in comment 2021-05-11 10:37:08 +10:00
Paul Riseborough b9abef37c3 AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground. 2021-05-11 10:37:08 +10:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Randy Mackay 647c568ab9 AP_NavEKF3: out-of-date comments removed 
GPS, Static and ExtNav yaw buffers have been separated
 2021-01-05 10:58:06 +11:00
Randy Mackay 27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay 5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Peter Barker 6dfd2f2ff9 AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication 2020-12-17 16:00:29 +09:00
Randy Mackay a2cca60beb AP_NavEKF3: constify EKFGSF_getYaw 2020-12-16 19:18:29 +11:00
Randy Mackay 0c3fcfd9d6 AP_NavEKF3: add missing break to case statements 2020-12-16 19:18:29 +11:00
Paul Riseborough 908b348c31 AP_NavEKF3: Fix typo in enum label 2020-12-15 19:29:16 +11:00
Randy Mackay e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Randy Mackay c2edae905f AP_NavEKF3: simplify logic when updating yawAngDataStatic 2020-12-15 19:29:16 +11:00
Randy Mackay 843ddb4fdc AP_NavEKF3: minor format fix 2020-12-15 19:29:16 +11:00
Paul Riseborough a9e76d44af AP_NavEKF3: Clean up yaw fusion logic 2020-12-15 19:29:16 +11:00
Paul Riseborough ccfd89240b AP_NavEKF3: Fix error in calculation of static 312 order yaw reference 2020-12-15 19:29:16 +11:00
Peter Barker 0529ddcd67 AP_NavEKF3: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell 36c946113d AP_NavEKF3: handle compass fallback in yaw source reset 
if we get to this point we must be using the compass fallback logic,
and should do the reset
 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 faed58a027 AP_NavEKF3: integrate Source for yaw 2020-11-20 16:43:44 +09:00
Paul Riseborough aaf558f593 AP_NavEKF3: 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 9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 096aab9388 AP_NavEKF3: 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
Randy Mackay 2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Paul Riseborough 69632336e1 AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw 
Uses sympy derivation
 2020-10-26 11:03:50 +11:00
Paul Riseborough 4e41e9f5f1 AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order 
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
 2020-10-26 11:03:50 +11:00
Paul Riseborough 73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough 0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Peter Barker 0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00