Paul Riseborough
ac87cab6bc
AP_NavEKF3: constify array index variable
2021-03-23 10:05:59 +11:00
Paul Riseborough
1498b516a3
AP_NavEKF3: Don't try to learn gyro biases that are poorly observable
2021-03-23 10:05:59 +11:00
Paul Riseborough
918606e71d
AP_NavEKF3: Don't use fake measurements to learn dvel bias
2021-03-23 10:05:59 +11:00
Paul Riseborough
c709ad9c80
AP_NavEKF3: Add missing axis specific dvel bias update inhibit
2021-03-23 10:05:59 +11:00
Paul Riseborough
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
2021-03-23 10:05:59 +11:00
Andrew Tridgell
1ccda938cb
AP_NavEKF3: make external navigation optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
2021-01-24 11:56:52 +11:00
chobitsfan
26a3a02c81
AP_NavEKF3: use posxy_source in all places
2021-01-14 16:49:12 +09:00
chobits
e73d28fe19
AP_NavEKF3: remove redundant extnav code
2021-01-12 21:56:36 +09:00
Peter Barker
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
2020-12-01 10:40:09 +11:00
Andrew Tridgell
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Andrew Tridgell
603e0c090d
AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
2020-12-01 10:33:50 +11:00
Randy Mackay
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
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
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Randy Mackay
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
2020-11-20 16:43:44 +09:00
Randy Mackay
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
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
Andrew Tridgell
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
...
these don't work with AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
...
saves a bit of flash space
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
Randy Mackay
b726630ef4
AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully
...
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
2020-10-28 19:06:53 +11:00
Randy Mackay
3b38aa6d7b
AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD
...
Using these existing functions removes some code duplicate
non-functional change
2020-10-28 19:03:34 +11:00
Randy Mackay
2f1ae29a9c
AP_NavEKF3: extnav data gets corrected boolean
...
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
2020-10-24 12:35:58 +11:00
Randy Mackay
a16de76f57
AP_NavEKF3: correct extnav position as it is recalled from the buffer
...
This makes extnav position correction consistent with the velocity correction
2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10
AP_NavEKF3: gps_elements gets corrected flag
...
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
2020-10-24 08:49:33 +09:00
Randy Mackay
3d4e1cd5c5
AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel
2020-10-24 08:49:33 +09:00
Randy Mackay
e25579cc00
AP_NavEKF3: correct GPS for position as it is recalled from buffer
2020-10-24 08:49:33 +09:00
Randy Mackay
e4056086e0
AP_NavEKF3: minor format and spelling fixes
2020-10-21 13:54:22 +09:00
Randy Mackay
231a958e51
AP_NavEKF3: minor comment fix
2020-10-21 11:40:35 +09:00
Randy Mackay
e4ccd21dd7
AP_NavEKF3: consolidate extNav height source timeouts
2020-10-20 17:11:26 +09:00
Randy Mackay
6989a28bfc
AP_NavEKF3: allow alt from other sources when using ExtNav
...
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
2020-10-20 17:11:26 +09:00
Randy Mackay
0cebde0632
AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set
...
this non-functional change slightly reduces the number of places we set these variables
2020-10-20 17:11:26 +09:00
Randy Mackay
3d5161f364
AP_NavEKF3: remove unused usingWheelSensors variable
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This variable was set but never consumed
2020-08-21 13:18:58 +09:00
chobits
7ad9e3548f
AP_NavEKF3: make reset source variable local
2020-08-10 09:43:28 +09:00
Peter Barker
6b701ae3b3
AP_NavEKF3: correct includes
2020-08-07 19:20:07 +10:00
chobits
564244ce9a
AP_NavEKF3: fix extnav vel reset
2020-07-17 14:13:06 +09:00
Paul Riseborough
8ff6780323
AP_NavEKF3: Clarify distinct use cases for 'takeoff expected'
2020-07-07 15:33:58 +10:00
Paul Riseborough
d1a0c2eb30
AP_NavEKF3: Start EKF-GSF yaw estimator before fixed wing takeoff
2020-07-07 15:33:58 +10:00
Paul Riseborough
d8c2096ad8
AP_NavEKF3: improve angle accuracy during no mag launch
2020-07-07 15:33:58 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
a3d140b949
AP_NavEKF3: reduce duplicated code.
2020-06-24 21:16:50 +09:00
Paul Riseborough
344d621a08
AP_NavEKF3: Add missing fallback to baro for range beacon use case
2020-06-24 21:16:50 +09:00
Paul Riseborough
906731222d
AP_NavEKF3: Fix range aid switching logic
...
Clarifies use of EK3_RANGE_USE_HGT and EK3_ALT_SOURCE parameters to control range finder use.
Setting EK3_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK3_ALT_SOURCE parameter.
2020-06-24 21:16:50 +09:00
Randy Mackay
93d8458d2a
AP_NavEKF3: FuseVelPosNED uses ext nav vel err in obs data check
2020-06-02 08:33:42 +09:00
Randy Mackay
d37eec5fd8
AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer
2020-06-02 08:33:42 +09:00
chobits
c7817eaca1
AP_NavEKF3: support VISION_SPEED_ESTIMATE
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Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2020-06-02 08:33:42 +09:00