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117 Commits

Author SHA1 Message Date
Peter Barker adf9c21d48 AP_NavEKF3: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Randy Mackay e16a64383f AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration 2022-01-29 08:26:12 +09:00
Andrew Tridgell 282209e3e6 AP_NavEKF3: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Randy Mackay 63e579d738 AP_NavEKF3: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 0edfd2634f AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Andrew Tridgell 5c86cc6828 AP_NavEKF3: added EK3_PRIMARY parameter 
allows for selection of which IMU to use on startup
 2021-08-17 06:42:42 +10:00
Randy Mackay d961186e0c AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-06 07:00:46 +09:00
Paul Riseborough 0088b0f3fe AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough ccc95d8726 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 18:20:45 +10:00
Peter Barker 795f412264 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Paul Riseborough 124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Peter Barker c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Paul Riseborough 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough 9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Randy Mackay f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Peter Barker 3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Andrew Tridgell be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell 80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Randy Mackay adfc92523b AP_NavEKF3: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Peter Barker e1a033b296 AP_NavEKF3: make logging a core concern 
Also dissolve some methods only used for logging
 2020-11-22 20:47:29 +11:00
Randy Mackay 8895d20c45 AP_NavEKF3: rename setPosVelYawSourceSet 2020-11-20 16:43:44 +09:00
Randy Mackay 0f8d0ef11b AP_NavEKF3: move sources to 2nd bank of parameters 2020-11-20 16:43:44 +09:00
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay ba9f60abc7 AP_NavEKF3: add getVelInnovationsAndVariancesForSource 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00
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
Andrew Tridgell 1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 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
Peter Barker fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Randy Mackay 7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Peter Barker 83d784c22d AP_NavEKF3: fix includes 2020-10-20 11:40:54 +11:00
Randy Mackay eeb1a1846c AP_NavEKF3: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Andrew Tridgell 2bc7d17e7a AP_NavEKF3: improved core comparison to check alignment 
this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching

this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
 2020-09-14 20:29:04 +10:00
Harshit Kumar Sankhla edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla d7edc946b6 AP_NavEKF3: Relative Error based Lane-Switching 
Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
 2020-08-27 20:20:51 +10:00
chobits 4b8be2e535 AP_NavEKF3: fix comments 2020-08-04 18:16:18 +10:00
Paul Riseborough 8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Peter Barker 2e55584417 AP_NavEKF3: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Randy Mackay dccc3e22d9 AP_NavEKF3: minor comment fix re RNG_USE_HGT 2020-06-24 21:16:50 +09:00