Tatsuya Yamaguchi
83c544f792
AP_NavEKF3: use SourceSetSelection enum class
2024-09-08 10:02:29 +10:00
Peter Barker
33f9513854
AP_NavEKF3: correct includes
2024-09-06 08:52:01 +10:00
George Zogopoulos
18e95c7979
Revert "AP_NavEKF3: Corrected logged units"
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This reverts commit 1f01f75036
2024-09-06 08:46:11 +10:00
Peter Barker
6cfecaa86d
AP_NavEKF3: use enum class for DAL MemoryType
2024-09-04 09:51:08 +10:00
Peter Barker
e8f361458e
AP_NavEKF3: rename gpsVelInnovTime_ms to gpsRetrieveTime_ms
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in preparation for using this for other things
2024-09-03 10:34:02 +10:00
Peter Barker
2a6b45f4d9
AP_NavEKF3: tidy formatting of is_deadreckoning
2024-09-03 10:34:02 +10:00
Peter Barker
4782ace3b9
AP_NavEKF3: rename lastPosPassTime_ms to lastGpsPosPassTime_ms
2024-09-03 10:34:02 +10:00
Peter Barker
a51614f360
AP_NavEKF3: use reference for dal in frontend
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in place of method calls
2024-09-03 10:16:59 +10:00
Peter Barker
02c6784c11
AP_NavEKF3: add and use pr/EK3_FEATURE_OPTFLOW_FUSION
2024-09-02 11:53:12 +10:00
Peter Barker
4e27c51aa1
AP_NavEKF3: do not log DefaultAirspeed if logging not started
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if we are not going to use this value ourselves then we certainly should not add it to the replay log
2024-08-27 10:15:10 +10:00
George Zogopoulos
1f01f75036
AP_NavEKF3: Corrected logged units
2024-08-07 17:02:28 +10:00
Paul Riseborough
4904c718a5
AP_NavEKF3: Fix yaw alignment bug
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When the yaw is aligned to the GPS yaw, the recordYawResetsCompleted() function should be called the same as for any other yaw reset.
2024-07-25 09:34:48 +10:00
Clyde McQueen
630d3fa8a7
AP_NavEKF3: log mag fusion selection to XKFS
2024-07-11 16:16:27 +10:00
Peter Barker
c8a20726ff
AP_NavEKF3: do not store prediction-enabled as state
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this is only used in one place, and that place is called from the same routine setting the persistent state. The only other place which calls readIMUData shouldn't be running the prediction step, but mmay, depending on the previous setting of the prediction step.
We are not initialising this state on filter reset, so it's possible that the state will be set when we do an InitialiseFilterBootstrap, which is probably not desired
2024-07-09 10:45:03 +10:00
Peter Barker
ce48932f4d
AP_NavEKF3: remove storedRange member variable if rangefinder measurements disabled
2024-07-04 19:21:44 +10:00
Willian Galvani
cb74ebbddd
EKF3: allow earth-frame fields to be estimated with an origin but no GPS
2024-07-03 16:49:27 +10:00
Peter Barker
13e7d04497
AP_NavEKF3: make AP_RANGEFINDER_ENABLED remove more code
2024-07-02 09:17:26 +10:00
Peter Barker
563c3e7c62
AP_NavEKF3: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
Clyde McQueen
0e6543f0e4
AP_NavEKF3: sub update for yaw reset and inFlight checks
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on sub, request final yaw reset after diving 0.5m.
Also update rangefinder tests for sub
2024-06-25 18:09:37 +10:00
Paul Riseborough
61874da020
AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning
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The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step.
This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift.
2024-06-09 14:25:02 +10:00
Paul Riseborough
720c2da807
AP_NavEKF3: Rework GPS jamming resiliency
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Make it user selectable.
Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks.
Log the waitingForGpsChecks class variable
2024-06-09 14:25:02 +10:00
Paul Riseborough
996bf7d4df
AP_NavEKF3: Log gpsGoodToAlign
2024-06-09 14:25:02 +10:00
Paul Riseborough
eb2ff2192d
AP_NavEKF3: Don't block no compass planes from running GPS alignment checks
2024-06-09 14:25:02 +10:00
Paul Riseborough
6baeb1cd9d
AP_NavEKF3: Fix bug causing in flight yaw align to not complete
2024-06-09 14:25:02 +10:00
Paul Riseborough
ffde7f815c
AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled
2024-06-09 14:25:02 +10:00
Paul Riseborough
87bf8d9997
AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor
2024-06-09 14:25:02 +10:00
Paul Riseborough
568972c0f0
AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed
2024-06-09 14:25:02 +10:00
Paul Riseborough
2c3174b77b
AP_NavEKF3: Strengthen protection against GPS jamming
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These changes prevent the EKF from consuming GPS data too soon when it is recovering from jamming if the EKF is able to navigate using dead reckoning.
2024-06-09 14:25:02 +10:00
Paul Riseborough
324d5da811
AP_NavEKF3: Use last observed wind states to enable dead reckoning
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These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value.
The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed.
AP_NavEKF3: Fix error in default airspeed observation variance
AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled
2024-06-09 14:25:02 +10:00
Paul Riseborough
e53416e77b
AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded
2024-06-09 14:25:02 +10:00
Andrew Tridgell
94cbd7cbfb
AP_NavEKF3: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
Paul Riseborough
91423d4c71
AP_NavEKF3: Remove unncessary local position height reporting offset
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The offset generated by the EK3_OGN_HGT_MASK parameter bit 2 option is applied to the baro or range finder sensor so it does not have to be applied to the local position height.
2024-05-23 10:35:51 +10:00
Paul Riseborough
5fded75eb6
AP_NavEKF3: Adjust sensor height when EK3_OGN_HGT_MASK bit 2 is set
2024-05-23 10:35:51 +10:00
Peter Barker
36e385fb22
AP_NavEKF3: set-origin failure comment improved
2024-05-21 09:56:02 +10:00
Randy Mackay
4e2dd7c399
AP_NavEKF3: accept set origin even when using GPS
2024-05-21 09:56:02 +10:00
Paul Riseborough
3c8b3be7a7
AP_NavEKF3: Change yaw source to stop compass use when calibrating
2024-04-23 15:19:56 +09:00
Andrew Tridgell
dce2492321
AP_NavEKF3: use filtered gyro in INS position correction
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this reduces the impact of IMU noise on the output velocity from the
EKF
2024-04-17 14:53:59 +10:00
Iampete1
21df26de75
AP_NavEKF3: use set_and_defualt when changing imu mask
2024-03-26 11:35:36 +11:00
Randy Mackay
65b4db5ede
AP_NavEKF3: define Yaw alignment min GPS speed per vehicle
2024-03-26 10:01:42 +11:00
Peter Barker
ce04d69d53
AP_NavEKF3: correct compilation in SITL when logging is disabled
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this code is gated on HAL_BOARD_SITL already, and usually we have logging in SITL. But not always
2024-03-12 09:25:17 +11:00
Marek S. Lukasiewicz
07681416f5
AP_NavEKF3: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to common MAVLink dialect
2024-03-07 18:13:51 +11:00
Peter Barker
21edc6aee1
AP_NavEKF3: do not trust number of beacons to not change
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if the count from the beacon library changes we may end up looking at memory we shouldn't
2024-02-28 18:37:42 +11:00
Peter Barker
a517d5fed1
AP_NavEKF3: correct initialisation of BeaconFusion data structure
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the fusionReport object is not being cleared when the filter undergoes a forced reset.
So delete and recreate the object. Will also make this sensitive to the number of beacons changing.
Also don't attempt to allocate zero bytes.
2024-02-28 18:37:42 +11:00
Peter Barker
2df3cb98c6
AP_NavEKF3: move initialisation of rngBcn into BeaconFusion method
2024-02-27 12:04:14 +11:00
Peter Barker
e9d065c1cc
AP_NavEKF3: tidy population of fusion reports
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simply take a refefence and use it
2024-02-26 20:55:41 +11:00
Simon Hancock
07eecd3b67
AP_NavEKF3: Updates to log message units and help text
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Set quaternion component units to no-unit from UNKNOWN
2024-01-21 14:26:54 +11:00
Peter Barker
0afed2f8c2
AP_NavEKF3: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
Peter Barker
10c8af3409
AP_NavEKF3: do not use fmaxF on floating point values
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it returns double, which will not fit into this float
2023-09-12 09:47:17 +10:00
Paul Riseborough
5aa7bd0b7a
AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE)
2023-08-23 18:25:26 +10:00
Andy Piper
c57efa1b20
AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros
2023-08-23 18:25:26 +10:00
