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590 Commits

Author SHA1 Message Date
Andy Piper 9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Randy Mackay f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough c94de61e29 AP_NavEKF2: 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
chobits a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Paul Riseborough e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Randy Mackay 90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Randy Mackay 2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay 6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay 990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay 43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay 014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay 3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker 7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell d8c533e7ab AP_NavEKF2: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough 8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough 49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Randy Mackay 4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay 0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay 91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell 6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell 3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough 6952d83f00 AP_NavEKF2: Fix casting build error 2020-04-24 09:43:23 +10:00
Paul Riseborough 0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Randy Mackay 35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay 85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay 8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Randy Mackay 9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker 903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Andrew Tridgell 9030590a88 AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-02-19 18:12:54 +11:00
Siddharth Purohit 4cca1c307c AP_NavEKF2: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Peter Hall e0eeb4f863 AP_NavEKF2: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
chobits a54f24c8c0 AP_NavEKF2: switch to optflow if gps is jammed 2020-02-04 10:13:57 +09:00
Peter Barker da3d3cc21b AP_NavEKF: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Hall 2970334c0d AP_NavEKF2: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker 524647d221 AP_NavEKF2: use instance number when logging rather than multiple message IDs 2019-12-17 12:22:07 +11:00
Peter Barker 060c851709 AP_NavEKF2: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker 369292f7f3 AP_NavEKF2: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker 239df941e5 AP_NavEKF2: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell fce4d6952f AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Mark Whitehorn 5f6b3a1f5b AP_NavEKF2: clean up init failure handling 
only attempt to allocate memory once
 2019-11-26 11:59:10 +11:00