Peter Barker
a62cb64867
AP_NavEKF2: improve description of XKF4/NKF4 fields
...
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
2021-09-08 17:06:12 +10:00
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
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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
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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
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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
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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
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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
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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
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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
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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
Andrew Tridgell
01cd678244
AP_NavEKF2: fixed memory corruption on push before init
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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
7099bb6096
AP_NavEKF2: fixed gcc 9.3 build error
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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
5b41d5541f
AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection
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as discussed with Paul
2020-11-10 16:15:45 +11:00
Andrew Tridgell
7d7031d3d7
AP_NavEKF2: added const (review request)
2020-11-10 16:15:45 +11:00
Andrew Tridgell
16f7e51ea5
AP_NavEKF2: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
246a441883
AP_NavEKF2: cope with INS_MAX_INSTANCES below 3
2020-11-10 16:15:45 +11:00
Andrew Tridgell
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
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saves a bit of flash space
2020-11-10 16:15:45 +11:00
Andrew Tridgell
8591b31665
AP_NavEKF2: cleanup unused code
2020-11-10 16:15:45 +11:00
Andrew Tridgell
bec095d661
AP_NavEKF2: support replay with external navigation data
2020-11-10 16:15:45 +11:00
Andrew Tridgell
224792b8b8
AP_NavEKF2: added optflow support for AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
90a8c5cb1a
AP_NavEKF2: use ekf_low_time_remaining for core scheduling
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169
prevent duplicate EKF logging
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vehicle code sometimes tries to log the same data twice
2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Peter Barker
84c92b717f
AP_NavEKF2: make coreBetterScore const
2020-11-03 10:39:35 +11:00
Randy Mackay
fccc1fcb72
AP_NavEKF2: minor comment fix
2020-10-28 12:17:22 +09:00
Andrew Tridgell
dc32f7a12f
AP_NavEKF2: fixed multi-core yaw reset
...
thanks to Alex Burka for finding this
2020-10-24 19:35:30 +11:00
Peter Barker
0496ecc4f6
AP_NavEKF2: remove unused state variables
2020-10-22 08:47:08 +11:00
Peter Barker
53305ba2a4
AP_NavEKF2: remove unused quat2Tbn method
2020-10-20 11:40:54 +11:00
Peter Barker
312cf725aa
AP_NavEKF2: remove dangling method declarations
2020-10-20 11:40:54 +11:00
Peter Barker
c90265f94d
AP_NavEKF2: fix includes
2020-10-20 11:40:54 +11:00
Peter Barker
80f9ef7ed1
AP_NavEKF2: remove unused innovationIncrement and lastInnovation
2020-10-20 11:24:34 +11:00
Randy Mackay
b2d4622320
AP_NavEKF2: replace prearm_healthy with pre_arm_check
2020-10-07 11:53:07 +11:00
Andrew Tridgell
35e95d3328
AP_NavEKF2: reset body mag variances at key points
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reset on sensor switch or when changing to 3D fusion
2020-09-20 09:25:57 +10:00
Andrew Tridgell
534e63e2fa
AP_NavEKF2: fixed init of earth state mag variances
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we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
2020-09-20 09:25:57 +10:00
Andrew Tridgell
d6dcbda0d3
AP_NavEKF2: removed duplicate compass switch check
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left over from last set of changes
2020-09-20 09:25:57 +10:00
Andrew Tridgell
067001bd61
AP_NavEKF2: take into account alignment when comparing cores
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ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
2020-09-14 20:29:04 +10:00
Paul Riseborough
da7bb44a61
AP_NavEKF2: Consolidate magnetometer timeout checks
2020-09-08 11:01:14 +10:00
Andrew Tridgell
6b9e595602
AP_NavEKF2: fixed handling of failed compass
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when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
2020-09-08 11:01:14 +10:00
Andrew Tridgell
6ee527d3e0
AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask
2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla
56cbcb42ee
AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet
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TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
2020-08-27 20:20:51 +10:00
Andrew Tridgell
83e5639225
AP_NavEKF2: apply min GPS accuracy at measurement point
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this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
2020-08-21 07:40:13 +10:00
Peter Barker
032b7c81e5
AP_NavEKF2: correct includes
2020-08-07 19:20:07 +10:00
Andy Piper
e39e24bd18
AP_NavEKF2: INS get_sample_rate() renamed to get_loop_rate_hz()
2020-07-10 16:45:29 +10:00
Paul Riseborough
25cba50f10
AP_NavEKF3: Fix EK2_MAG_CAL parameter description
2020-07-07 15:33:58 +10:00
Paul Riseborough
ea4589ea94
AP_NavEKF2: Reset yaw estimator bias states at start of flight
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Enables yaw bias to be learned when sitting stationary on ground.
2020-07-07 15:33:58 +10:00
Paul Riseborough
b6d9b6f3c7
AP_NavEKF2: Update documentation for non-compass use case
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Instruction now explicitly specifies that all COMPASS_USE parameters must be set to 0 and COMPASS_ENABLE must be set to 1
2020-07-07 15:33:58 +10:00
Paul Riseborough
ccaa4d6aa9
AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data
2020-07-07 15:33:58 +10:00
Peter Barker
081c0bbfe0
AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods
2020-07-07 10:50:41 +10:00
Paul Riseborough
9507a2e157
AP_NavEKF2: Fix parameter description
2020-06-24 21:16:50 +09:00
Randy Mackay
a8c2be26ba
AP_NavEKF2: remove unused terrainHgtStableSet_ms
2020-06-24 21:16:50 +09:00
Paul Riseborough
502b96f49c
AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor
2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
83dc46d539
AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data
2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
280d33d030
AP_NavEKF2: reduce duplicated code.
2020-06-24 21:16:50 +09:00
Paul Riseborough
11a0fef3d0
AP_NavEKF2: Fix indent
2020-06-24 21:16:50 +09:00
Paul Riseborough
fc18ee91df
AP_NavEKF2: Add missing fallback to baro for range beacon use case
2020-06-24 21:16:50 +09:00
Paul Riseborough
d118c8fc38
AP_NavEKF2: Fix range aid switching logic
...
Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_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 EK2_ALT_SOURCE parameter.
2020-06-24 21:16:50 +09:00
Pierre Kancir
9bbd2b19c2
AP_NavEKF2: add --debug-ekf to debug the EKF
2020-06-20 19:59:05 +10:00
Randy Mackay
989ffb79cd
AP_NavEKF2: minor format fix
2020-06-19 13:46:52 +09:00
Randy Mackay
966d59a26d
AP_NavEKF2: protect against ExtNav being NaN
2020-06-19 13:46:52 +09:00