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734 Commits

Author SHA1 Message Date
Paul Riseborough a2f5962f77 AP_NavEKF2: Reduce effect of baro disturbances 2015-10-23 19:04:30 +11:00
Paul Riseborough 5eb7cf1fbf AP_NavEKF: Reduce roll/pitch disturbance when magnetic field is reset 
Because we have changed the yaw angle and have taken a point sample on the magnetic field, covariances associated with the magnetic field states will be invalid and subsequent innovations could cause an unwanted disturbance in roll and pitch.
The reset of the Euler angles to a new yaw orientation was being done using roll and pitch from the output observer states, not the EKF state vector which meant that when roll and pitch were changing, the reset to a new yaw angle would also cause a roll and pitch disturbance.
 2015-10-23 19:04:30 +11:00
Paul Riseborough b08817554e AP_NavEKF2: Ensure consistent position and velocity fusion rates when not using GPS 
This sets the fusion of the synthetic position and velocity to occur at the same time as the barometer

This makes filter tuning more consistent between GPS and non-GPS useage
 2015-10-21 17:27:00 +11:00
Paul Riseborough 1c347e8859 AP_NavEKF: Prevent high measurement data rates from overflowing buffers 
High measurement data rates can fill buffers with data that is always new and never fused because it is over-written before it falls behind the measurement time horizon.
 2015-10-21 17:27:00 +11:00
Paul Riseborough d1a090dda8 AP_NavEKF: Fix bug fetching data from measurement buffers 
This bug can result in valid data being rejected and fused at the wrong time horizon.
 2015-10-21 17:27:00 +11:00
Paul Riseborough aabb9b4e02 AP_NavEKF2: handle uncertain build type 2015-10-21 17:27:00 +11:00
Paul Riseborough e6312d91ce AP_NavEKF2: Correct variable name 2015-10-21 17:27:00 +11:00
Paul Riseborough 4640673cb1 AP_NavEKF2: Fix bug causing incorrect fusion timing 2015-10-21 17:27:00 +11:00
Paul Riseborough cd8b9c7d26 AP_NavEKF: prevent high rate mag data locking out other data fusion 2015-10-20 20:16:04 +11:00
Paul Riseborough ab8c28a7cc AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding 
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
 2015-10-20 20:16:00 +11:00
Paul Riseborough e076ed7f66 AP_NavEKF2: Remove compiler warning message 2015-10-20 18:16:16 +11:00
Andrew Tridgell cb0f7cb370 NavEKF2: use new perf counter API 2015-10-20 18:16:15 +11:00
Paul Riseborough 60c2e81d19 AP_NavEKF2: Apply optimisations to declination fusion covariance update 
These are the same type of optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:41 +11:00
Paul Riseborough 0054291cf4 AP_NavEKF2: Apply optimisations to side-slip fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough 5e4bc4e954 AP_NavEKF2: Apply optimisations to airspeed fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough a29147d6d2 AP_NavEKF2: Apply optimisations to optical flow covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough b5e43288d4 AP_NavEKF2: Down to 12 from 14 usec for perf test[8] 2015-10-20 15:21:40 +11:00
Paul Riseborough 0f530bb5a0 AP_NavEKF2: Correct comments 2015-10-20 15:21:40 +11:00
Andrew Tridgell d1dfd5fd01 AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00
Andrew Tridgell a017ae7e00 AP_NavEKF2: down to 218us for test[9] 2015-10-20 15:21:40 +11:00
Andrew Tridgell fc23be8025 AP_NavEKF2: enable fine grained perf tuning for mag fusion 2015-10-20 15:21:40 +11:00
Andrew Tridgell b6c1352e4c AP_NavEKF2: added 10 test perf counters 
used for fine grained performance tuning
 2015-10-20 15:21:40 +11:00
Paul Riseborough 824436dfb6 AP_NavEKF2: Explicitly define constants as floats 2015-10-20 15:21:40 +11:00
Paul Riseborough 2fbd050418 AP_NavEKF2: Use blended accelerometer data 
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
 2015-10-20 15:21:40 +11:00
Paul Riseborough 2b13020c19 AP_NavEKF2: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough f6ad79688e AP_NavEKF2: Update start sequence console messages 2015-10-20 15:21:39 +11:00
Paul Riseborough 1a1236f764 AP_NavEKF2: Update magnetometer fusion documentation 2015-10-20 15:21:39 +11:00
Paul Riseborough 8526a8ba7e AP_NavEKF2: Level processor loading between frames 
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
 2015-10-20 15:21:39 +11:00
Paul Riseborough 225b81baf4 AP_NavEKF2: Prevent users breaking filter by setting excessive time delays 
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
 2015-10-20 15:21:39 +11:00
Paul Riseborough a1d6c7ae1e AP_NavEKF2: Improve timing accuracy 
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
 2015-10-20 15:21:39 +11:00
Paul Riseborough e0ed2dab63 AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates 
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
 2015-10-20 15:21:39 +11:00
Paul Riseborough baa8692960 AP_NavEKF2: Allow use of magnetometer learning during optical flow nav 
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
 2015-10-20 15:21:38 +11:00
Paul Riseborough 1b8a93ef0c AP_NavEKF2: Update function header comments 2015-10-20 15:21:38 +11:00
Paul Riseborough 6899767d28 AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference 2015-10-20 15:21:38 +11:00
Paul Riseborough 242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough e7de2d3ea3 AP_NavEKF: Update magnetic field learning options 
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
 2015-10-20 15:21:38 +11:00
Paul Riseborough 495809f211 AP_NavEKF2: Allow magnetic field learning to be faster 2015-10-20 15:21:38 +11:00
Paul Riseborough 84a02efd52 AP_NavEKF2: Improve efficiency of Z magnetometer fusion 2015-10-20 15:21:37 +11:00
Paul Riseborough 35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough 4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough 71c399674a AP_NavEKF2: Delay use of magnetic field states until off-ground 
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 99c2dc41e0 AP_NavEKF2: Miscellaneous tuning changes 2015-10-20 15:21:37 +11:00
Paul Riseborough 47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough 67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough 0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell 2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay 35769035d4 AP_NavEKF2: resolve compiler warning related to init order 2015-10-15 20:03:05 +09:00
Paul Riseborough 0c61e09b70 AP_NavEKF2: Critical big fix - states not initialised 
The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
 2015-10-15 09:52:55 +11:00
Paul Riseborough e3013b493b AP_NavEKF2: Critical bug fix - perf counter not initialised 2015-10-15 09:48:13 +11:00
Paul Riseborough 20a3f9782e AP_NavEKF2: Add full set of selectable pre-flight GPS checks 2015-10-10 21:22:53 +09:00
Paul Riseborough db4dfce7b1 AP_NavEKF2: Add fix status to GPS check report message 2015-10-10 14:49:07 +09:00
Paul Riseborough 22920aafad AP_NavEKF2: Improve GPS status reporting 2015-10-10 14:48:59 +09:00
Paul Riseborough 1cb2220107 AP_NavEKF2: Critical Bugfix 2015-10-10 14:48:54 +09:00
Paul Riseborough f467a89fa3 AP_NavEKF2: Update comments for filter status output function 2015-10-10 14:48:52 +09:00
Paul Riseborough b142cc7fd2 AP_NavEKF2: Rename files and re-distribute content 2015-10-10 14:48:50 +09:00
Siddharth Bharat Purohit 1ce3276d74 AP_NavEKF2: split EKF control and output get functions from state specific libs 2015-10-10 14:48:48 +09:00
Siddharth Bharat Purohit 2e388fb2f9 AP_NavEKF2: split otp flow from PosVelNED 2015-10-10 14:48:46 +09:00
Siddharth Bharat Purohit 290ea0e1e8 AP_NavEKF2: split up EKF_core into different files 2015-10-10 14:48:44 +09:00
Paul Riseborough cde140354a AP_NavEKF2: Clean up control logic 2015-10-05 13:35:32 +09:00
Paul Riseborough f4db78fc11 AP_NavEKF2: Allow for larger gyro bias errors 
MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
 2015-10-05 13:35:29 +09:00
Paul Riseborough 325f4139fe AP_NavEKF2: Clean up mode change logic 2015-10-05 13:35:26 +09:00
Paul Riseborough ef624199f9 AP_NavEKF2: Enable GPS velocity fusion to be inhibited 2015-10-05 13:35:23 +09:00
Paul Riseborough 53e58f1075 AP_NavEKF2: Update default parameters 
Updates from preliminary tuning in Replay
 2015-09-25 19:22:56 +10:00
Paul Riseborough 2fb72b6e6a AP_NavEKF2: Clean up loss of GPS logic 2015-09-25 19:20:52 +10:00
Paul Riseborough df0eb9d9d7 AP_NavEKF2: Don't run GPS checks when not required 2015-09-25 19:20:52 +10:00
Paul Riseborough 1986af021f AP_NavEKF2: Remove un-used flight mode and duplicate variable 2015-09-25 19:20:52 +10:00
Paul Riseborough 7230472516 AP_NavEKF2: Adjust parameter defaults 2015-09-25 19:20:52 +10:00
Paul Riseborough 8bcedb228b AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1 2015-09-25 19:20:52 +10:00
Randy Mackay 015f700bc0 AP_NavEKF2: getLastYawResetAngle returns last reset time 2015-09-24 16:57:38 +09:00
Paul Riseborough 80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough 4acd6c129a AP_NavEKF2: Update parameters 2015-09-24 12:58:43 +10:00
Paul Riseborough 9c5e48e7e9 AP_NavEKF2: Remove unused variables and improve variable names 2015-09-24 12:58:43 +10:00
Paul Riseborough 4a7714e15d AP_NavEKF2: Remove unused parameters and improve naming consistency 2015-09-24 12:58:43 +10:00
Paul Riseborough 8afb26087d AP_NavEKF2: Remove unused function 2015-09-24 12:58:43 +10:00
Andrew Tridgell fe76662faf AP_NavEKF2: added set_enable() API 2015-09-23 18:55:12 +10:00
Paul Riseborough f270573acc AP_NavEKF2: Use library functions for quaternion corrections 2015-09-23 17:48:48 +10:00
Andrew Tridgell cbc62238a9 AP_NavEKF2: run astyle for reformatting 2015-09-23 17:29:28 +10:00
Andrew Tridgell 760dafbb9d AP_NavEKF2: added enabled() function 2015-09-23 12:09:26 +10:00
Andrew Tridgell b4555f30a5 AP_NavEKF2: added frontend calls to core code 2015-09-23 11:56:42 +10:00
Andrew Tridgell 3ac75aeffb AP_NavEKF2: added EK2_ENABLE parameter 2015-09-23 11:56:42 +10:00
Paul Riseborough f500474a86 AP_NavEKF2: initial import of new maths EKF 2015-09-23 09:51:14 +10:00