Commit Graph

42472 Commits

Author SHA1 Message Date
Randy Mackay
c1ef894a30 AP_NavEKF3: getDataEKFGSF and getYawData pass by reference 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
1ee9f3a6de AP_NavEKF: GSF getLogData and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
8a8271c2c7 AP_NavEKF3: minor format fixes 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
ed3d072318 AP_NavEKF3: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 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
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
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
216935c1f2 AP_NavEKF3: 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
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
9f5e037015 AP_NavEKF3: Restore bug fix lost during rebase 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
53df8a0238 AP_NavEKF3: Fix timer wrapping bug 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
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
8ce97af40e ArduCopter: Preserve original check criteria 2020-04-24 09:43:23 +10:00
Paul Riseborough
51b62a34b9 AP_NavEKF: Use better type for array index 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
6ec69e6ed1 AP_NavEKF3: Update EK3_MAG_CAL parameter advice 2020-04-24 09:43:23 +10:00
Paul Riseborough
a66479104d AP_AHRS: fix failure to arm when not using compass for yaw 2020-04-24 09:43:23 +10:00
Andrew Tridgell
6b6f083bf2 RC_Channel: added lane switch RCn_OPTION=103
RC_Channel: added yaw reset switch RCn_OPTION=104
2020-04-24 09:43:23 +10:00
Paul Riseborough
36031c01a9 ArduCopter: rework ekf check to use separate yaw reset request
ArduCopter: Request lane or yaw reset switch sooner

ArduCopter: rework ekf check to use separate yaw reset request

ArduCopter: Rework EKF failsafe

During flight operations it is the deviation in position of the vehicle that matters during most scenarios.
t patch ensures that an EKF fail-safe will be triggered when the position inconsistency exceeds check limits in addition to either a bad mag or velocity innovation.
This will stop velocity noise triggering an early fail-safe when electromagnetic interference is present.
2020-04-24 09:43:23 +10:00
Paul Riseborough
0efdb2b66b ArduPlane: Send default airspeed to estimators 2020-04-24 09:43:23 +10:00
Paul Riseborough
22c2ea7cbf AP_AHRS: Add accessor function for EKF yaw reset request
AP_AHRS: Send yaw reset request to EKF2
2020-04-24 09:43:23 +10:00
Paul Riseborough
9cf75bf22e AP_AHRS: Enable EKF3 default airspeed to be set
AP_AHRS: Send default airspeed to EKF2
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
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
Paul Riseborough
6bb7c55bba AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter
AP_NavEKF: Simplify centripetal accel correction
2020-04-24 09:43:22 +10:00
Rishabh
c1d5f0441c Sub: LogMessage Documentation 2020-04-24 08:24:59 +09:00
Randy Mackay
dcbbd047b4 Copter: simplify guided mode takeoff using rangefinder 2020-04-23 15:01:46 +09:00
Tatsuya Yamaguchi
29dcbd1398 Copter: use rangefinder to takeoff altitude in guided mode 2020-04-23 15:01:46 +09:00
Randy Mackay
c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Peter Barker
eee0f028ba AP_Logger: fix examples
Having a valid AP_Scheduler is now a requirement
2020-04-23 11:33:41 +09:00
Andrew Tridgell
4ec1717361 HAL_ChibiOS: enable IMU temp control on CUAV-X7 2020-04-23 09:05:52 +10:00
bugobliterator
2a74f8a687 Azure: fix build with uavcan support 2020-04-23 08:43:46 +10:00
Rishabh
9de3a24011 Rover: Logger documentation 2020-04-23 08:26:42 +10:00
Andrew Tridgell
6887252ad3 Tools: added mRoNexus to build 2020-04-23 07:28:13 +10:00
Andrew Tridgell
56b0dddb7c HAL_ChibiOS: set IMU temp on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
50ec9b59af Tools: added CUAV-X7 bootloader 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5892e6421e HAL_ChibiOS: enable DRDY on ADIS16470 on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
ffe773ff6f HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Andrew Tridgell
450871cde1 HAL_ChibiOS: added wait_pin() implementation 2020-04-23 07:28:13 +10:00
Andrew Tridgell
34df438560 AP_HAL: added wait_pin() API
for waiting on data-ready lines
2020-04-23 07:28:13 +10:00
Andrew Tridgell
d8e208167d Tools: added mRoNexus bootloader 2020-04-23 07:28:13 +10:00
Andrew Tridgell
8e977183fe HAL_ChibiOS: added mRoNexus 2020-04-23 07:28:13 +10:00