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31 Commits

Author SHA1 Message Date
Paul Riseborough 20923da23a AP_NavEKF2: Allow tuning of non-GPS mode 
Eliminate the use of horizontal position states during non-aiding operation to make it easier to tune.
Explicitly set the horizontal position associated Kalman gains to zero and the coresponding covariance entries to zero after avery fusion operation.
Make the horizontal velocity observation noise used during non-aiding operation adjustable.
Use a fixed value of velocity noise during initial alignment so that the flight peformance can be tuned without affecting the initial alignment.
 2016-01-13 08:05:39 +11:00
Paul Riseborough f9cadaf15c AP_NavEKF2: Increase resolution of innovation consistency gate parameters 
Also adds protection against setting the gate to a number that would casue numerical errors.
 2015-11-18 11:39:53 +11:00
Paul Riseborough 6522fb2621 AP_NavEKF2: Allow user to relax pre-flight GPS checks 2015-11-12 20:39:15 +11:00
Paul Riseborough 577670ccee AP_NavEKF2: Reduce memory required by 6KB when running at 400Hz 
Down-sample the IMU and output observer state data to 100Hz for storage in the buffer.
This reduces storage requirements for Copter by 75% or 6KB
It does not affect memory required by plane which already uses short buffers due to its 50Hz execution rate.
This means that the EKF filter operations operate at a maximum rate of 100Hz.
The output observer continues to operate at 400Hz and coning and sculling corrections are applied during the down-sampling so there is no loss of accuracy.
 2015-11-10 15:51:18 +11:00
Paul Riseborough f00b1ff22d AP_NavEKF2: Publish the magnetometer selection index 2015-11-09 22:07:10 +11:00
Paul Riseborough 0b64ad0123 AP_NavEKF2: Enable EKF instance to be specified when requesting public data 
Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
 2015-11-08 15:37:28 +11:00
Paul Riseborough 6c2dc3ccf8 AP_NavEKF2: Publish the number of instances 2015-11-08 15:37:27 +11:00
Paul Riseborough 2dcaeb0304 AP_NavEKF2: Update publishing of primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough b24507d33c AP_NavEKF2: Publish the primary EKF index 2015-11-08 15:37:27 +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
Randy Mackay 94adaba305 AP_NavEKF2: constify getLastPosNorthEastReset 
Also constify getLastVelNorthEastReset
 2015-10-30 12:24:16 +09:00
Randy Mackay 52ed075405 AP_NavEKF2: constify getLastYawResetAngle 2015-10-30 12:24:12 +09:00
Paul Riseborough 74da4d8e57 AP_NavEKF2: Remove GPS glitch offset logic 
Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.
 2015-10-30 12:24:04 +09:00
Paul Riseborough 35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough 47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +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
Paul Riseborough 325f4139fe AP_NavEKF2: Clean up mode change logic 2015-10-05 13:35:26 +09:00
Randy Mackay 015f700bc0 AP_NavEKF2: getLastYawResetAngle returns last reset time 2015-09-24 16:57:38 +09:00
Paul Riseborough 80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough 4acd6c129a AP_NavEKF2: Update parameters 2015-09-24 12:58:43 +10:00
Paul Riseborough 4a7714e15d AP_NavEKF2: Remove unused parameters and improve naming consistency 2015-09-24 12:58:43 +10:00
Paul Riseborough 8afb26087d AP_NavEKF2: Remove unused function 2015-09-24 12:58:43 +10:00
Andrew Tridgell fe76662faf AP_NavEKF2: added set_enable() API 2015-09-23 18:55:12 +10:00
Andrew Tridgell cbc62238a9 AP_NavEKF2: run astyle for reformatting 2015-09-23 17:29:28 +10:00
Andrew Tridgell 760dafbb9d AP_NavEKF2: added enabled() function 2015-09-23 12:09:26 +10:00
Andrew Tridgell b4555f30a5 AP_NavEKF2: added frontend calls to core code 2015-09-23 11:56:42 +10:00
Andrew Tridgell 3ac75aeffb AP_NavEKF2: added EK2_ENABLE parameter 2015-09-23 11:56:42 +10:00
Paul Riseborough f500474a86 AP_NavEKF2: initial import of new maths EKF 2015-09-23 09:51:14 +10:00