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
Peter Barker
99689f65f8
AP_NavEKF2: adjust for renaming of RangeFinder files
2019-11-12 07:14:37 +08:00
Peter Barker
9735684184
AP_NavEKF2: use enum-class for RangeFinder Status
2019-11-09 08:01:53 +11:00
Mark Whitehorn
23ee9eef5f
AP_NavEKF2: fail prearm on any core setup failure
2019-11-05 11:23:54 +11:00
Mark Whitehorn
489ae83604
AP_NavEKF2: handle core setup failures
2019-11-05 11:23:54 +11:00
Mark Whitehorn
7c6630e216
AP_NavEKF2: EKF2 prefix for prearm failures and camelCase
2019-11-05 11:23:54 +11:00
Mark Whitehorn
95ea6ad807
AP_NavEKF2: provide reasons for init failures
2019-11-05 11:23:54 +11:00
Randy Mackay
cc5facf6d2
AP_NavEKF2: initialise pre-arm failure message
2019-10-31 09:51:27 +08:00
Mark Whitehorn
6e73feca5c
AP_NavEKF2: add prearm failure message for null core pointer
2019-10-29 11:59:29 +08:00
Randy Mackay
e32a8556b2
AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled
2019-10-22 07:15:48 +08:00
Randy Mackay
e2d3afaaa7
AP_NavEKF2: reduce EK2_HRT_FILT max to 30
2019-10-18 11:15:25 +09:00
Paul Riseborough
c26c6fd078
AP_NavEKF2: Add missing vertical position derivative calculation
...
Use a third order order complementary filter to estimate the rate of change of vertical position output.
2019-10-18 11:15:25 +09:00
Andrew Tridgell
cbe34320b5
AP_NavEKF2: fixed build
...
broken by recent common variable change
2019-10-01 17:35:26 +10:00
Andrew Tridgell
f7e138bddd
AP_NavEKF2: use parent class for intermediate static variables
...
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
2019-10-01 15:39:03 +10:00
Andrew Tridgell
8dd2119b14
AP_NavEKF2: make it easy to do EK2 timing tests
...
for future benchmarking
2019-09-28 08:57:26 +10:00
Andrew Tridgell
163efd0df5
AP_NavEKF2: change optimisation from -O3 to -O2
2019-09-28 08:57:26 +10:00
Peter Barker
952d4d2cbc
AP_NavEKF2: initialise Kfusion stack variable to fix compilation
...
This fixes the compilation, as previous patches have done.
2019-09-25 12:54:55 +10:00
Andrew Tridgell
d40d812ea4
AP_NavEKF2: fixed build with g++ 9.1
...
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
2019-09-24 14:59:17 +10:00
Andrew Tridgell
9226899c6f
AP_NavEKF2: added comment (review request)
2019-09-24 12:51:54 +10:00
Andrew Tridgell
255981c60c
AP_NavEKF2: moved some of the intermediate vars to the stack
...
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
2019-09-24 12:51:54 +10:00
Andrew Tridgell
96c6544997
AP_NavEKF3: moved intermediate variables to common memory
...
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717 , but avoids creating large stack
frames
2019-09-24 12:51:54 +10:00
Andrew Tridgell
0041874826
AP_NavEKF2: moved intermediate variables to common memory
...
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717 , but avoids creating large stack
frames
2019-09-24 12:51:54 +10:00
Andrew Tridgell
1d47f9186e
AP_NavEKF2: fixed use of old irqsave() API
2019-09-21 15:36:47 +10:00
Peter Barker
3619856fc9
AP_NavEKF2: correct return of empty prearm string
2019-09-19 08:47:47 +09:00
Randy Mackay
94a52b3525
EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder
2019-09-10 18:44:52 +10:00
Michael du Breuil
a4d10b2e86
AP_NavEKF2: Allow the GPS to be responsible for logging
2019-09-10 09:09:17 +10:00
Peter Barker
c8fac758ee
AP_NavEKF2: use timing logging from AP_NavEKF
2019-09-03 09:28:37 +10:00
Andrew Tridgell
414d3eb670
AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3
...
when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code
This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
2019-08-26 12:27:31 +10:00
hoangthien94
fc9ff2b09a
AP_NavEKF2: add method to check if ext nav is used for yaw
2019-08-03 08:44:11 +09:00
Andrew Tridgell
098701ec79
AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE
...
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise
Fixes #11903
2019-07-30 08:23:21 +10:00
Andrew Tridgell
e7163afe06
AP_NavEKF2: review fixes
...
thanks Paul!
2019-07-29 10:08:22 +10:00
Andrew Tridgell
c57b25b4c9
AP_NavEKF2: ensure that EKF origin stays in sync on all cores
...
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
2019-07-29 10:08:22 +10:00
Andrew Tridgell
a01faa2f00
AP_NavEKF2: use origin lat for earth rates
...
home may not yet be set when this code is run, so using home may be
invalid
2019-07-29 10:08:22 +10:00
Andrew Tridgell
742ae0b750
AP_NavEKF2: set origin on all cores
...
when EKF origin is set, make sure it is set on all cores
2019-07-29 10:08:22 +10:00