Commit Graph

141 Commits

Author SHA1 Message Date
priseborough 027552ef44 AP_NavEKF2: Fix default behaviour for height origin corrections
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
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
Dr.-Ing. Amilcar Do Carmo Lucas 7426bdb9b7 AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter 2017-06-16 12:05:20 +01:00
priseborough b42fb31d7d AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK
Turn off by default.
Update parameter description
2017-06-14 12:44:41 +01:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: Improve GPS reference height estimator
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
Dr.-Ing. Amilcar Do Carmo Lucas 3f6059397c AP_NavEKF2: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 38b19b9eee AP_NavEKF2: Use SI units conventions in parameter units
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
Andrew Tridgell 2de8777669 AP_NavEKF2: added inter-EKF scheduling cooperation
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
2017-05-01 14:24:55 +10:00
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Andrew Tridgell 9f3c2cb704 AP_NavEKF2: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
Jacob Walser 646d68c76d AP_NavEKF2: Fix parameter metadata 2017-03-22 16:16:26 -07:00
priseborough 407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
Michael du Breuil 8b69f1708e NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF 2017-02-22 11:53:42 -08:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough 7ea37029b6 AP_NavEKF2: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 715d094678 AP_NavEKF2: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 9389ec2274 AP_NavEKF2: fix parameter descriptions 2017-01-09 13:30:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
priseborough 76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup
Require primary core to be healthy for 10 seconds before starting selection logic
2016-12-13 01:18:28 +00:00
priseborough 14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
priseborough 665ba1c009 AP_NavEKF2: Fix bug in reporting of vertical position reset
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
2016-12-01 10:35:38 +09:00
priseborough 7f347e39dd AP_NavEKF2: Fix bug in reporting of horizontal position reset
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
2016-12-01 10:35:38 +09:00
priseborough 656d9bb2c4 AP_NavEKF2: Fix bug in reporting of yaw reset
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
2016-12-01 10:35:38 +09:00
Randy Mackay 66a9093cd0 AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data 2016-11-30 17:56:51 +09:00
priseborough ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
priseborough 0a177d04fd AP_NavEKF2: Simply core switch implementation
Functionally equivalent
2016-11-24 19:58:10 +09:00
priseborough 0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
2016-11-24 19:57:45 +09:00
priseborough e62863f9a1 AP_NavEKF2: Reduce unnecessary EKF core switching
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
2016-11-24 19:57:41 +09:00
Andrew Tridgell 82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2
we don't need to copy that vector3f for every sample. A uint8_t does
the job
2016-10-27 17:09:06 +11:00
priseborough fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
priseborough e0b8c54194 AP_NavEKF: Update GPS type parameter description 2016-10-10 14:49:18 +09:00
priseborough ab55991b33 AP_NavEKF2: Report position jumps due to lane switches
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
2016-10-10 11:56:14 +09:00
Francisco Ferreira 42cd8e9721 AP_NavEKF2: Handle yaw jumps due to core switches
Based on work from Paul Riseborough (priseborough)
2016-09-25 18:24:11 -07:00
Francisco Ferreira 8da22e441b Revert 3 commits about yaw reset core switch
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.

Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.

Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
2016-09-25 18:24:11 -07:00
priseborough cb1d3c7ed2 AP_NavEKF2: Allow for terrain gradient when using range finder for height 2016-09-13 17:45:03 +09:00
priseborough 175faf1e41 AP_NavEKF2: Fix bug in published yaw reset value found during code review 2016-09-13 17:35:18 +09:00
priseborough 77fad065d1 AP_NavEKF2: use a struct for all yaw step class variables 2016-09-13 17:35:16 +09:00
priseborough 885bfd1b4e AP_NavEKF2: Handle yaw jumps due to core switches 2016-09-13 17:35:14 +09:00
Andrew Tridgell dd812cfc0c AP_NavEKF2: added getPrimaryCoreIMUIndex()
needed for correct AHRS gyro estimate
2016-09-05 12:53:53 +10:00
priseborough e6f36f04db AP_NavEKF2: Enable automatic use of range finder height
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.

When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,

If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
2016-08-08 10:56:44 +09:00
priseborough 230ba2700f AP_NavEKF2: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough b1717649b1 AP_NavEKF2: remove combined NED local position interface 2016-07-19 12:16:49 +10:00
priseborough e374ec634d AP_NavEKF2: Add separate horizontal/vertical local position interfaces 2016-07-19 12:16:49 +10:00
priseborough e6592186fc AP_NavEKF2: Tuning update
Slow down magnetic field learning
2016-07-10 08:21:18 +10:00