Commit Graph

20 Commits

Author SHA1 Message Date
priseborough e34cdc6666 AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
2016-07-19 12:16:50 +10:00
Paul Riseborough dc6836988c AP_NavEKF2: Improve ground based magnetic anomaly protection for copter
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
2016-06-28 14:20:12 +10:00
Paul Riseborough 26815ace7a AP_NavEKF2: Remove redundant logic check 2016-06-28 14:20:12 +10:00
Paul Riseborough 24d8cc62e2 AP_NavEKF2: rework yaw and magnetic heading reset logic
Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
2016-05-31 16:12:53 +10:00
Paul Riseborough cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
2016-05-21 15:13:52 +10:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Andrew Tridgell 9c4dd024bf AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA
this fixes a problem where users of NMEA GPS receivers could not arm
with default EK2 parameters.
2016-05-05 19:46:33 +10:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
Paul Riseborough 04228e0b3b AP_NavEKF2: Rework selection of height measurements for fusion
GPS height has been added as a measurement option along with range finder and baro
Selection of the height measurement source has been moved into a separate function
Each height source is assigned its own measurement noise
If GPS or baro alt is not able to be used, it reverts to baro
When baro is not being used, an offset is continually calculated which enables a switch to baro without a height step.
2015-11-18 11:18:42 +11:00
Paul Riseborough 6522fb2621 AP_NavEKF2: Allow user to relax pre-flight GPS checks 2015-11-12 20:39:15 +11:00
Andrew Tridgell 2ab2afc86a AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs
no voting between multiple IMUs yet
2015-11-06 10:42:58 +11:00
Paul Riseborough b6d63d4b4e AP_NavEKF2: Fix reporting of pre-flight GPS checks
Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
2015-11-02 14:12:16 +11:00
Paul Riseborough 5533a9a149 AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion 2015-10-30 15:34:23 +09:00
Andrew Tridgell d1dfd5fd01 AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00
Paul Riseborough 242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough 4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough 0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic
Ensure takeoff detect status goes to false when on ground
2015-10-20 15:21:36 +11:00
Paul Riseborough 20a3f9782e AP_NavEKF2: Add full set of selectable pre-flight GPS checks 2015-10-10 21:22:53 +09:00
Paul Riseborough 22920aafad AP_NavEKF2: Improve GPS status reporting 2015-10-10 14:48:59 +09:00
Siddharth Bharat Purohit 290ea0e1e8 AP_NavEKF2: split up EKF_core into different files 2015-10-10 14:48:44 +09:00