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d1983b0b77
Commit Graph

436 Commits

Author SHA1 Message Date
Randy Mackay
d1983b0b77 AP_NavEKF3: fixup source param conversion 
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
 2020-11-20 16:43:44 +09:00
Randy Mackay
04e3623620 AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
 2020-11-20 16:43:44 +09:00
Andrew Tridgell
36c946113d AP_NavEKF3: handle compass fallback in yaw source reset 
if we get to this point we must be using the compass fallback logic,
and should do the reset
 2020-11-20 16:43:44 +09:00
Randy Mackay
8895d20c45 AP_NavEKF3: rename setPosVelYawSourceSet 2020-11-20 16:43:44 +09:00
Randy Mackay
5eb3875ebb AP_NavEKF3: rename posxy_source_last and posxy_source_reset 2020-11-20 16:43:44 +09:00
Randy Mackay
f88364d653 AP_NavEKF3: use_compass minor order fixup 2020-11-20 16:43:44 +09:00
Randy Mackay
b475f01b25 AP_NavEKF3: update comments 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
9716b09cad AP_NavEKF3: minor indenting fix 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
Andrew Tridgell
72ee7d15e1 AP_NavEKF3: fixup for AP_DAL 2020-11-20 16:43:44 +09:00
Randy Mackay
73835f0c11 AP_NavEKF3: pre_arm_check includes 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
849e94cc24 AP_NavEKF3: call sources align inactive sources 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
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
1263648d88 AP_NavEKF3: beacon fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay
8a56ce49be AP_NavEKF3: optical flow fusion checks source 2020-11-20 16:43:44 +09:00
Randy Mackay
4cadaa5194 AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source 2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027 AP_NavEKF3: integrate Source for yaw 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
4c606a30bb AP_NavEKF3: use common structure names 2020-11-17 13:45:07 +11:00
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
Paul Riseborough
db86a5acc8 AP_NavEKF3: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell
5686dafeef AP_NavEKF3: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell
03f2e853ce AP_NavEKF3: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
Andrew Tridgell
c14d19be68 AP_NavEKF3: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell
0bc77a3baf AP_NavEKF3: fixed whitespace 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6ee1b23d28 AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6fe05a9ab6 AP_NavEKF3: restore XKTV message 2020-11-10 16:15:45 +11:00
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
eaa8474563 AP_NavEKF3: cope with INS_MAX_INSTANCES below 3 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
1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell
21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell
7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 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
Randy Mackay
2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Peter Barker
fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +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