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667 Commits

Author SHA1 Message Date
Paul Riseborough 17c2ba5ac1 AP_NavEKF3: Fix bug causing too frequent resets if bad IMU data detected 2021-09-23 18:55:28 +10:00
Peter Barker b66fd214f0 AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Paul Riseborough e9c339a0a0 AP_NavEKF3: fix wind speed covariance initialisation bug 2021-09-21 17:16:36 +10:00
Josh Henderson 3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Peter Barker dabba69b5e AP_NavEKF3: improve description of XKF4/NKF4 fields 
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
 2021-09-08 17:06:12 +10:00
Randy Mackay 63e579d738 AP_NavEKF3: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 0edfd2634f AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay d1f2acd813 AP_NavEKF3: rename varInnovOptFlow to flowVarInnov 
also renamed innovOptFlow to flowInnov
 2021-08-24 16:49:04 +09:00
Randy Mackay 85ade10e85 AP_NavEKF3: ofDataNew made local 2021-08-24 16:49:04 +09:00
Randy Mackay 11847cfcf5 AP_NavEKF3: always calculate optical flow innovations and variances 2021-08-24 16:49:04 +09:00
Randy Mackay 914a8dca49 AP_NavEKF3: for loops use uint8_t instead of unsigned 2021-08-24 16:49:04 +09:00
Randy Mackay 5779ebd177 AP_NavEKF3: remove unused Tbn_flow 2021-08-24 16:49:04 +09:00
Randy Mackay f9fd63e01e AP_NavEKF3: remove unused optflow calcs 2021-08-24 16:49:04 +09:00
TunaLobster d6a5622fcb AP_NavEKF3: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Andrew Tridgell 5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Pierre Kancir 8216905f47 AP_NavEKF3: remove unecessary assignements 2021-08-12 10:39:49 +09:00
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 ff59e0f72f AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-09 19:19:21 +10:00
Randy Mackay 2f1444772b AP_NavEKF3: XKF3.IYAW logs in degrees 2021-08-09 08:10:42 +09:00
Randy Mackay d961186e0c AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-06 07:00:46 +09:00
Andrew Tridgell 8681ecebfd AP_NavEKF3: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker c34284b6eb AP_NavEKF3: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Paul Riseborough 17ead96250 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-22 18:20:45 +10:00
Paul Riseborough aa6ac4a874 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-22 18:20:45 +10:00
Paul Riseborough 8fd1e98701 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 0088b0f3fe AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 5fa3ed5755 AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-22 18:20:45 +10:00
Paul Riseborough 7497590363 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-22 18:20:45 +10:00
Paul Riseborough 3e123c0a30 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-22 18:20:45 +10:00
Paul Riseborough e3bdbcd8ea AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 18:20:45 +10:00
Paul Riseborough ccc95d8726 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 18:20:45 +10:00
Paul Riseborough ed61287410 AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-22 18:20:45 +10:00
Paul Riseborough 62d70a628e AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 18:20:45 +10:00
Paul Riseborough 5eb7751682 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-22 18:20:45 +10:00
Paul Riseborough 72dc998509 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 18:20:45 +10:00
Paul Riseborough 0f2661c31c AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 171eed5d85 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 18:20:45 +10:00
Paul Riseborough ce4d13091a AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 18:20:45 +10:00
Paul Riseborough 6242ce19fa AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 18:20:45 +10:00
Paul Riseborough bb9eed28a9 AP_NavEKF3: Update covariance prediction equations 2021-07-22 18:20:45 +10:00
Paul Riseborough 7b8e935880 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 18:20:45 +10:00
Peter Barker 795f412264 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Andrew Tridgell fc2118f42b AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-21 17:59:49 +10:00
Andrew Tridgell 0b9cde5812 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-21 17:59:49 +10:00
Peter Barker a4410a4b2e AP_NavEKF3: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
Andrew Tridgell 6b73c2151a AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 98fb4fcbe7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell 44f098c86d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-12 17:27:08 +10:00
Andrew Tridgell ae8dbe36bb AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-12 17:27:08 +10:00
Andrew Tridgell 5319e3910f AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-10 07:20:41 +10:00
Andrew Tridgell a8c6d742aa AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-10 07:20:41 +10:00
Andrew Tridgell 885e518741 AP_NavEKF3: allow for double EKF build 2021-07-10 07:20:41 +10:00
Randy Mackay 4fde26aa01 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-05 08:42:06 +09:00
Paul Riseborough 1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Paul Riseborough 9d85a4292e AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-06-23 13:26:02 +09:00
Paul Riseborough de3c6d6e5c AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-06-23 13:26:02 +09:00
Paul Riseborough ac92182153 AP_NavEKF3: Clean up initialisation of boolean array 2021-06-23 13:26:02 +09:00
Paul Riseborough b0763f04f1 AP_NavEKF3: Remove unwanted line 2021-06-23 13:26:02 +09:00
Paul Riseborough b7aad13cc8 AP_NavEKF3: Protect against collapse of velocity and position variances 2021-06-23 13:26:02 +09:00
Paul Riseborough 36160ba9ce AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough 5d00b7d042 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough e4eb8339d0 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-06-23 13:26:02 +09:00
Josh Henderson 64dc3bbe41 AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson 0ae3730f11 AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-06-22 12:01:10 +10:00
Peter Barker d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +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 a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough 124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Paul Riseborough 76d0dcc25c AP_NavEKF3: Use common method for handling baro ground effect 2021-06-02 11:13:16 +09:00
Andrew Tridgell dc9435a88d AP_NavEKF3: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Peter Barker c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker 15658362b5 AP_NavEKF3: make time-horizon OF data a local variable 
Saves 40 bytes of RAM per core on stm32
 2021-06-01 09:56:19 +10:00
Randy Mackay 02f6ca51bc AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero 2021-05-28 08:08:08 +09:00
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
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Paul Riseborough 1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough 7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 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 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough 918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 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
priseborough 4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
murata c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Peter Barker 4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough 4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough 246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough 6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough 3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough 912db3512e AP_NavEKF3: Fix EKF selection bug 2021-03-05 12:10:01 +11:00
Paul Riseborough 85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00