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487 Commits

Author SHA1 Message Date
priseborough 12fd19ea26 AP_NavEKF2: Clarify definition for gps_glitching flag 2018-03-27 20:28:57 +09:00
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 dbe860152d AP_NavEKF2: tight types on constants 
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
 2018-03-01 20:27:19 +09:00
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
Pierre Kancir 171e80d8dc AP_NavEKF2: only report terrain estimator innovations with valid rng value 2017-12-18 22:51:46 +00:00
Andrew Tridgell 4d4e66d825 AP_NavEKF2: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
priseborough 3b32d583a9 AP_NavEKF2: Fix delta time use error 2017-12-12 11:39:38 +11:00
priseborough 440d361aff AP_NavEKF2: Limit range of delta times 2017-12-12 11:39:38 +11:00
Andrew Tridgell 97729a12f0 AP_NavEKF2: don't run IMU updates until buffer fills 
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
 2017-12-12 11:39:38 +11:00
Andrew Tridgell 4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Samuel Tabor 1b4705242c AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available 2017-11-20 13:53:31 +09:00
priseborough efdc651d1a AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter 
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
Lucas De Marchi 3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker 1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Michael du Breuil dffa3d3b40 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
priseborough ac568bae53 AP_NavEKF2: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
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
Randy Mackay 7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough c69c5440a0 AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
priseborough ce8e935896 AP_NavEKF2: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough b7e6e6f95f AP_NavEKF2: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Andrew Tridgell cbffc29f0b AP_NavEKF2: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
priseborough 647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles 
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
 2017-06-19 06:09:07 +10:00
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 fd25450632 AP_NavEKF2: Ensure reported local height = global height - origin height 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
priseborough 1985dcd366 AP_NavEKF2: Fix bug in declination fusion 2017-06-03 15:16:25 +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
priseborough 2d4eee0cce AP_NavEKF2: documentation update 2017-05-01 14:24:55 +10:00
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
priseborough e48f46c98b AP_NavEKF2: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 082f429da3 AP_NavEKF2: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
priseborough 596b20eb07 AP_NavEKF2: close perf counter when doing early return 2017-04-27 20:14:21 +10:00
priseborough 88469ce80c AP_NavEKF2: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell d799bacd7d AP_NavEKF2: fixed reset of coviariance matrix 2017-04-27 18:33:25 +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
Jonathan Challinger c53125f3b5 AP_NavEKF2: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
Jacob Walser 646d68c76d AP_NavEKF2: Fix parameter metadata 2017-03-22 16:16:26 -07:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough 407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough 8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough b7c4945000 AP_NavEKF2: 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
Randy Mackay 563be389ee AP_NavEKF2: only use downward facing rangefinder 2017-02-27 15:18:10 +09:00
Michael du Breuil 8b69f1708e NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF 2017-02-22 11:53:42 -08:00
Jacob Walser e7a34b0fb3 AP_NavEKF2: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough a1d41edc4e AP_NavEKF2: 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 5cd403c0b9 AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough a63eac8073 AP_NavEKF2: Add missing perf_end 2017-01-27 16:57:42 +09:00
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
Francisco Ferreira c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25 2017-01-09 16:16:14 +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
murata 653030b038 AP_NavEKF2: Changed if statements to switch statement. 
AP_NavEKF2: Change indentation.
 2016-12-26 10:15:55 +09:00
priseborough 6dc7d25fde AP_NavEKF2: 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 fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough a8f3a374e2 AP_NavEKF2: replace sqrt function calls with sqrtf 
Prevents compiler errors and un-wanted use of double precision types
 2016-12-18 10:28:04 +11:00
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 69f3c83c20 AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid 
Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
 2016-12-09 21:17:28 +00:00
priseborough 14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
murata 25e47cce6b AP_NavEKF2: Changed sqrt method to sqrtf method. 
AP_NavEKF2: Changed sqrt method to sqrtf method.
 2016-12-07 15:41:41 +00:00
Randy Mackay fc5f4c20cd AP_NavEKF2: remove redundant check of beacon nullptr 
thanks to muramura for spotting this
 2016-12-01 14:53:26 +09:00
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 0ec8f0932a AP_NavEKF2: Prevent output of NaN's in range beacon debug output 
This can happen if this accessor function is called before the EKF states are initialised
 2016-11-30 17:56:50 +09:00
Randy Mackay fbecda7eeb AP_NavEKF2: change order of variable initialisation 
No functional change, this modifies the init order to match the declaration order.
 2016-11-30 17:56:49 +09:00
Randy Mackay 82854953e7 AP_NavEKF2: minor comment fix 2016-11-30 17:56:48 +09:00
Randy Mackay 14a73e499a AP_NavEKF2: initialise two range beacon structures 2016-11-30 17:56:47 +09:00
priseborough 2ee8250807 AP_NavEKF2: Changes from code review by @muramura 2016-11-30 17:56:46 +09:00
Randy Mackay 1f4606e48a AP_NavEKF2: protect against null beacon 2016-11-30 17:56:45 +09:00
Randy Mackay 51ccfca31c AP_NavEKF2: fix format of statustext for beacon init 2016-11-30 17:56:44 +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 7d48054e6f AP_NavEKF2: Group GPS innovation tests when compiling error score 2016-11-24 19:58:07 +09:00
Randy Mackay e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +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
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
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 c93c3d54f3 AP_NavEKF2: Don't correct for zero IMU position offset 
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
 2016-10-27 14:54:44 +11:00
priseborough 1890bbdafa AP_NavEKF2: Don't correct GPS for zero position offset 2016-10-27 14:54:44 +11:00
priseborough f025c96e63 AP_NavEKF2: Don't correct range finder for zero position offset 2016-10-27 14:54:43 +11:00