Randy Mackay
3d72022f6e
EKF: modify ALT_SOURCE param description
...
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
2018-07-18 08:31:09 +09:00
Peter Barker
baa818a812
AP_NavEKF2: use compass singleton for logging
2018-07-04 20:11:27 +01:00
Peter Barker
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
2018-04-18 13:50:55 +09:00
Peter Barker
81044760c7
AP_NavEKF2: const accessors
2018-04-04 12:20:36 +01:00
Paul Riseborough
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
2018-03-27 20:28:42 +09:00
Peter Barker
40957ec430
AP_NavEKF2: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
5ab89324b2
AP_NavEKF2: use baro singleton
2018-03-08 21:20:05 -08:00
Peter Barker
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
2018-03-07 12:34:39 +00:00
Peter Barker
3a99b2bce1
AP_NavEKF: move initialisation of EKF constants into header file
...
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
2018-03-01 20:27:19 +09:00
bugobliterator
b1213a522d
AP_NavEKF2: allocate NavEKF core from MEM_FAST region
2018-01-15 11:46:02 +11:00
Peter Barker
9c8466dc03
AP_NavEKF2: use GPS singleton
2017-12-27 00:58:02 +00:00
priseborough
efdc651d1a
AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter
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Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
2017-10-04 00:24:15 +01:00
priseborough
f2f3067326
AP_NavEKF2: Add interface to control GPS vertical velocity use
2017-08-10 19:49:45 +10:00
priseborough
027552ef44
AP_NavEKF2: Fix default behaviour for height origin corrections
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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
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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
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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
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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
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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
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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
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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
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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