Commit Graph

133 Commits

Author SHA1 Message Date
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 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
Paul Riseborough db86a5acc8 AP_NavEKF3: Don't update yaw estimator with bad GPS 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 b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
2020-10-28 19:06:53 +11:00
Randy Mackay 7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Paul Riseborough 64a3d8fe4e AP_NavEKF3: Update documentation 2020-10-26 11:03:50 +11:00
Paul Riseborough 90e928c32a AP_NavEKF3: Re-tune tilt alignment check
New tilt error variance estimate is more accurate and larger than before.
2020-10-26 11:03:50 +11:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Andrew Tridgell fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
2020-10-24 13:50:33 +11:00
Randy Mackay e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay 7398529f6b AP_NavEKF3: minor format fix 2020-09-28 20:57:39 +09:00
Andrew Tridgell 8a4b0f858a AP_NavEKF3: reset body mag variances at key points
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
2020-09-20 09:25:57 +10:00
Andrew Tridgell 1f21d72c79 AP_NavEKF3: fixed init of earth state mag variances
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
2020-09-20 09:25:57 +10:00
Randy Mackay 886a7d44a7 AP_NavEKF3: allow switch to ExtNav from optflow 2020-08-24 16:52:34 +09:00
Randy Mackay 6bf2057712 AP_NavEKF3: minor formatting fixes 2020-08-21 13:18:58 +09:00
Randy Mackay 4c40d2ac3f AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps 2020-08-21 13:18:58 +09:00
chobits 7ad9e3548f AP_NavEKF3: make reset source variable local 2020-08-10 09:43:28 +09:00
Peter Barker 6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
chobits 564244ce9a AP_NavEKF3: fix extnav vel reset 2020-07-17 14:13:06 +09:00
Paul Riseborough 24fccd5d87 AP_NavEKF3: Don't delay GPS use unnecessarily
Fixed wing should not wait for bias state convergence after in-flight yaw alignment
2020-07-07 15:33:58 +10:00
Paul Riseborough 9a4108f55e AP_NavEKF3: Simplify setting EK3_MAG_CAL
Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
2020-07-07 15:33:58 +10:00
Paul Riseborough 21ea5d5039 AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor 2020-07-07 15:33:58 +10:00
Paul Riseborough 354b551ef0 AP_NavEKF3: Handle repeated FW flight without magnetometer
The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
2020-07-07 15:33:58 +10:00
Paul Riseborough 8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Paul Riseborough bcd23e1063 AP_NavEKF3: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
chobits c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2020-06-02 08:33:42 +09:00
Randy Mackay 5ad3611142 AP_NavEKF3: improve ext nav glitch handling
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
2020-05-15 11:23:07 +09:00
Paul Riseborough 318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
2020-05-14 10:40:48 +10:00
Randy Mackay cbb25311bb AP_NavEKF3: setAidingMode uses lastExtNavPassTime_ms 2020-04-30 15:55:59 +09:00
priseborough c5e465aec9 AP_NavEKF3: add external nav system support
includes decoupling height source from use of external nav data
2020-04-30 15:55:59 +09:00
Randy Mackay 8a8271c2c7 AP_NavEKF3: minor format fixes 2020-04-24 09:43:23 +10:00
Paul Riseborough 7ba39c844c AP_NavEKF3: Split GSF yaw estimator processing
Separate prediction and correction steps are required to provide an up to
2020-04-24 09:43:23 +10:00
Paul Riseborough 53df8a0238 AP_NavEKF3: Fix timer wrapping bug 2020-04-24 09:43:23 +10:00
Paul Riseborough 12d639fc17 AP_NavEKF3: Misc changes arising from review
AP_NavEKF3: Fix typo in comment

AP_NavEKF3: Use uint32_t data type for msec timers

AP_NavEKF3: Misc msec timer fixes

Fix wrapping bug.
Use common timestamp.

AP_NavEKF3: Format fixes - remove tabs

AP_NavEKF3: Fix typing and wrap issue on time comparison
2020-04-24 09:43:23 +10:00
Paul Riseborough 4b3952bd15 AP_NavEKF3: Eliminate unnecessary function call 2020-04-24 09:43:23 +10:00
Paul Riseborough 863f989130 AP_NavEKF3: Fix integration of GPS yaw options
AP_NavEKF3: fix failure to arm with EK3_MAG_CAL = 7

AP_NavEKF3: Fix failure to arm when not using magnetometer

AP_NavEKF3: Reduce yaw drift when EK3_MAG_CAL = 7
2020-04-24 09:43:22 +10:00
Paul Riseborough 410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate

AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters

Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.

AP_NavEKF3: Prevent constant mag anomaly yaw resets

Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.

AP_NavEKF3: Add option to fly without magnetometer

AP_NavEKF3: Rework emergency yaw reset logic

Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.

AP_NavEKF3: Fix vulnerability to lane switch race condition

Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.

AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours

Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.

AP_NavEKF3: Update EK3_MAG_CAL documentation

AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag

AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor

Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-04-24 09:43:22 +10:00
Andrew Tridgell 3ae0b0d446 AP_NavEKF3: added using_external_yaw() method
needed by AHRS for attitudes_consistent() check
2020-04-11 21:14:31 +10:00
Andrew Tridgell 6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
2020-04-11 21:14:31 +10:00
Andrew Tridgell a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values
and use effective_magCal() everywhere for consistency
2020-04-11 21:14:31 +10:00
Peter Hall 47e3fda8e9 AP_NavEKF3: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Andrew Tridgell 04944fa6ce AP_NavEKF3: review fixes
thanks Paul!
2019-07-29 10:08:22 +10:00
Andrew Tridgell 451fe840ee AP_NavEKF3: ensure that EKF origin stays in sync on all cores
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
2019-07-29 10:08:22 +10:00
Andrew Tridgell 0fcb2037e1 AP_NavEKF3: use origin lat for earth rates
home may not yet be set when this code is run, so using home may be
invalid
2019-07-29 10:08:22 +10:00
priseborough 122f214416 AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor 2019-07-13 11:05:57 +10:00
priseborough 0c4f92d4c1 AP_NavEKF3: Add control logic to use external yaw sensor 2019-07-13 11:05:57 +10:00
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Paul Riseborough 0d3e1a7d23 AP_NavEKF3: flow use parameter improvements 2019-04-02 10:51:12 +11:00
Paul Riseborough b848e231c7 AP_NavEKF3: Add parameter to control how optical flow data is used 2019-04-02 10:51:12 +11:00
Arjun Vinod f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger 55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Peter Barker b68a91d171 AP_NavEKF3: remove default clause in setAidingMode
All aiding modes should be covered in the switch statement; adding the
default clause squelches a potentially useful compiler warning
2018-10-03 17:49:43 +01:00
Andrew Tridgell ac40a20c02 AP_NavEKF3: fill in gps_quality_good flag 2018-07-14 17:49:52 +10:00
Pierre Kancir 2b2c1e2d78 AP_NavEKF3: only use bcn EKF is the alignement as been completed 2018-04-03 09:55:13 +09:00
Pierre Kancir 4d2f2a2aad AP_NavEKF3: correct flag in case of GPS disable 2018-04-03 09:54:41 +09:00
priseborough 5785523a0d AP_NavEKF3: Clarify definition for gps_glitching flag 2018-03-27 20:28:56 +09:00
Tatsuya Yamaguchi aef9fa4a63 AP_NavEKF3: delete \n from the log using gcs().send_text 2018-02-02 09:13:54 +09:00
murata 6a87840c7a AP_NavEKF3: Change the if statement to a switch statement. 2018-01-28 22:20:08 +00:00
Peter Barker 5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
priseborough c7f6d52065 AP_NavEKF3: Add wheel encoder odometry
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
2017-07-27 16:52:27 +09:00
priseborough 58d58b4eac AP_NavEKF3: Initialise EKF origin height to field elevation
Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
2017-07-17 02:22:02 +01:00
Peter Barker 93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
priseborough 368983ed5a AP_NavEKF3: Clean up aiding mode logic using switch statements 2017-06-23 00:43:58 +01:00
priseborough f38fccd57c AP_NavEKF3: Prevent possible race condition re-zeroing state variances 2017-06-14 12:44:41 +01:00
priseborough 5058405f8c AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
2017-06-14 12:44:41 +01:00
priseborough 9da3caca47 AP_NavEKF3: 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
murata 46cba2c970 libraries: Delete the setting value for specific editor. 2017-05-11 13:18:41 -07:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
priseborough 06c073e448 AP_NavEKF3: Update tilt alignment check 2017-04-05 20:16:16 +10:00
priseborough 7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
2017-03-06 17:11:39 +11:00
priseborough de7a679534 AP_NavEKF3: Enable simple heading fusion to be set for specific cores 2017-02-15 19:09:45 +00:00
priseborough ccb952ba31 AP_NavEKF3: Use the same mag fusion method for all cores
The original reason for using a different method for the second core is no longer valid.
2017-02-15 19:01:10 +00:00
priseborough a133d55b6d AP_NavEKF3: Allow copters to fly with magnetometers disabled
Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted)
Copter optical flow operation without a magnetometer is permitted.
The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.
2017-01-27 16:57:42 +09:00
priseborough 2e5ac40ef6 AP_NavEKF3: remove unnecessary stdio includes 2017-01-27 16:57:42 +09:00
priseborough 7c53573a0c AP_NavEKF3: Allow range beacon use with intermittent GPS 2017-01-27 16:57:42 +09:00
priseborough e5e4883c72 AP_NavEKF3: Fix GPS use inhibit interface documentation 2017-01-27 16:57:42 +09:00
priseborough c7e1828238 AP_NavEKF3: improve variable name 2017-01-27 16:57:42 +09:00
priseborough 71eb46dd04 AP_NavEKF3: Fix bug in loss of aiding fallback
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
2016-12-21 18:08:39 +11:00
priseborough f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00
priseborough 39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
2016-12-19 08:06:47 +11:00