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Commit Graph

696 Commits

Author SHA1 Message Date
Randy Mackay b524094216 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-26 12:23:32 +09:00
TunaLobster 7dd40f0cab AP_NavEKF2: Remove @RebootRequired: False 2021-08-19 10:00:16 +10:00
Pierre Kancir d95f503a32 AP_NavEKF2: remove unecessary assignements 2021-08-12 10:39:49 +09:00
Randy Mackay a6e8f2e73b AP_NavEKF2: NKF3.IYAW logs in degrees 2021-08-09 08:10:42 +09:00
Randy Mackay f8399fe3de AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-06 07:00:46 +09:00
Andrew Tridgell 84b1468ce6 AP_NavEKF2: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker dec4ba86b6 AP_NavEKF2: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker b5f165ce2e AP_NavEKF2: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Andrew Tridgell 6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Josh Henderson 0561637350 AP_NavEKF2: Fix #17789 core's EKF origin altitude different if flying 2021-06-22 12:01:10 +10:00
Josh Henderson d7ecd6883d AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-06-22 12:01:10 +10:00
Siddharth Purohit 124eaf1a38 AP_NavEKF2: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Andrew Tridgell ea6724aca5 AP_NavEKF2: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Andrew Tridgell 32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
murata a5b6ce9220 AP_NavEKF2: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
murata 24591d68bc AP_NavEKF2: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Peter Barker 5dff32422d AP_NavEKF2: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough ac00776184 AP_NavEKF2: DAL interface compatibility change 2021-03-05 12:10:01 +11:00
murata af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Iampete1 3306484023 AP_NavEKF2: log position offset as float in meters 2021-03-02 10:03:12 +11:00
Paul Riseborough 948650dbe5 AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Peter Barker d668243d1e AP_NavEKF2: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Patrick José Pereira 53eb2f2bf4 AP_NavEKF2: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker 445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker 401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Randy Mackay 60633f5a7f AP_NavEKF2: disable ekf2 by default 2021-01-16 08:24:23 +09:00
Andrew Tridgell 1e75bb971e AP_NavEKF2: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell b36bfe4206 AP_NavEKF2: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Paul Riseborough b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Andrew Tridgell 5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Peter Barker f6d3983e1b AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker 00ac8391c0 AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker c5c810b724 AP_NavEKF2: use structures for logging GSF data 
This makes it look like EKF2 and is marginally more efficient.
 2020-12-02 10:30:48 +11:00
Peter Barker f94f51d9d3 AP_NavEKF2: move log message metadata to be above the structure 
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
 2020-12-02 10:30:48 +11:00
Peter Barker d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Peter Barker fc7e7dcee4 AP_NavEKF2: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker addd57dcab AP_NavEKF2: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker 0aa10d8281 AP_NavEKF2: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker 3a98d51427 AP_NavEKF2: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker 400ba7a9df AP_NavEKF2: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell 7313e9eb0f AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell 79148498d3 AP_NavEKF2: 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 4087d7b792 AP_NavEKF2: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Andrew Tridgell 39ba8a8c83 AP_NavEKF2: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell 3a4095fc7f AP_NavEKF2: use common structure names 2020-11-17 13:45:07 +11:00
Paul Riseborough 248ef92ed7 AP_NavEKF2: 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 e5e8d0ba3c AP_NavEKF2: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell a2f4b16cdc AP_NavEKF2: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00