priseborough
db043744a4
AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate
2014-04-07 21:08:25 +10:00
priseborough
1f8b5a6d23
AP_NavEKF : Tighten GPS velocity glitch gate default setting for plane
2014-04-07 21:08:15 +10:00
priseborough
0c2489b07b
AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio
2014-04-07 21:01:00 +10:00
priseborough
95c83255d7
AP_NavEKF : adjust default values for accelerometer process noise
...
Slows down estimate and allows for smaller values to be set
2014-04-07 21:00:43 +10:00
Andrew Tridgell
07d621c4be
AP_NavEKF: used state structure in more places
...
makes the code a bit easier to read
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-04 21:30:16 +11:00
priseborough
aa5335b16e
AP_NavEKF : Improved GPS position glitch handling
...
When using GPS after previously rejecting it, the GPS position will
always be offset if outside the specified glitch radius. This was the
original intent of the design and makes handling of glitches smoother.
It has been tested on replay using glitchy flight data
2014-04-04 21:01:22 +11:00
priseborough
b1786cf1e5
AP_NavEKF : Do not reset on GPS velocity timeout if good position data
2014-04-04 21:01:20 +11:00
priseborough
d25883f712
AP_NavEKF : Limit rate of Z accel bias adaptation
...
Aliasing can causes the bias estimate to fluctuate very rapidly as it tries
to keep up, which degrades the benefit of switching between
accelerometers to avoid aliasing.
This patch give a much more stable bias estimate during aliasing, and
allows the bias to adapt at a maximum rate of 1.0 m/s2 in 50 seconds
2014-04-04 21:01:18 +11:00
priseborough
36b3cbc365
AP_NavEKF : Relax aliasing check limits
...
This reduces the chance of noisy data inhibiting GPS glitch protection
2014-04-04 21:01:15 +11:00
priseborough
0ae736c3a0
AP_NavEKF : clean up convoluted logic used in sensor health checks
...
This doesn't change the behavior, but does make the code easier to
understand
2014-04-04 21:01:13 +11:00
Andrew Tridgell
cd3038fabd
AP_NavEKF: fixed return of offset in getVariances()
2014-04-03 07:49:06 +11:00
Andrew Tridgell
a7f213a5c5
AP_NavEKF: use pythagorous2()
2014-04-01 22:13:03 +11:00
priseborough
04036d7777
AP_NavEKF : Updated GPS glitch protection logic
...
This adds new functionality to the detection and compensation of GPS
glitches:
1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
2014-04-01 21:22:14 +11:00
Andrew Tridgell
5a2e84e792
AP_NavEKF: changes for new GPS API
2014-04-01 06:38:24 +11:00
priseborough
9c5f564dc5
AP_NavEKF : Fixes bug in initial earth magnetic field states
...
The calculation for these states was not being bias corrected
2014-03-30 07:43:52 +11:00
priseborough
e1819bb53a
AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane
2014-03-29 14:06:43 +11:00
priseborough
55c60b8f07
AP_NavEKF : Reduce Magnetometer innovation consistency check threshold
2014-03-26 21:29:47 +11:00
priseborough
45b1a2fa46
AP_NavEKF : Reduce GPS position innovation consistency fail threshold
...
This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
2014-03-26 21:29:45 +11:00
Andrew Tridgell
bafc664750
AP_NavEKF: use APM_BUILD_TYPE() macro
2014-03-26 12:42:11 +11:00
Andrew Tridgell
e3792f9b26
AP_NavEKF: added a mechanism for per-vehicle-type defaults in EKF
2014-03-26 12:30:17 +11:00
priseborough
17cdac7bc8
AP_NavEKF : Clean up angle and mag field initialisation
...
This path reduces duplicated code, eliminates unused variables and
causes the earth magnetic field states to be reset when exiting static mode
which will occur every time copter is armed. This enables copters to be
powered on and initialised inside vehicles or houses, without bad earth
field values affecting flight.
2014-03-24 19:54:48 +11:00
priseborough
7ae86b3979
AP_NavEKF : Track baro height observations pre-arm
...
This prevents copter from failing the pre-arm height discrepancy test
2014-03-23 18:25:50 +11:00
priseborough
7780d55788
AP_NavEKF : Prevent large magnetic field adaptations early in flight
2014-03-22 19:55:26 +11:00
Paul Riseborough
f7007569d1
AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125
...
msec
2014-03-21 21:52:20 +11:00
Paul Riseborough
b2c0979947
AP_NavEKF : Fixes bug that causes accel bias to diverge in static mode, preventing copter arming
2014-03-21 21:49:50 +11:00
Paul Riseborough
8a2d16d13d
AP_NavEKF : modifed Zaccel bias noise parameter to prevent unstable bias estimate
2014-03-20 08:50:00 +11:00
Paul Riseborough
dacba5d911
AP_NavEKF : Update default tuning parameters (for plane use)
2014-03-14 06:07:58 +11:00
Paul Riseborough
d0828d9c15
AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion
2014-03-14 06:07:58 +11:00
Paul Riseborough
a24bfc1b8a
AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed
2014-03-14 06:07:57 +11:00
Paul Riseborough
35811758d7
AP_NavEKF : Update comments and remove un-used function declarations
2014-03-14 06:07:57 +11:00
Paul Riseborough
784034170d
AP_NavEKF : increased useage of helper functions
2014-03-10 21:54:03 +11:00
Paul Riseborough
7b3130cfcc
AP_NaVEKF : Enable operation without airspeed and compass
2014-03-10 21:53:09 +11:00
Paul Riseborough
3a5acb9cea
AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment
2014-03-10 14:07:34 +11:00
Paul Riseborough
b47a11edf6
AP_NavEKF : improved static and on-ground mode selection logic
2014-03-10 04:39:59 +11:00
Paul Riseborough
15a44571c2
AP_NavEKF : enable operation without a compass for planes
2014-03-09 20:01:45 +11:00
Paul Riseborough
2019708056
AP_NavEKF : Make all compass use autodetect
2014-03-09 19:59:19 +11:00
Paul Riseborough
e485b246e7
AP_NavEKF : update comments
2014-03-09 19:59:18 +11:00
Paul Riseborough
c8bd415b00
AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer
2014-03-09 19:59:17 +11:00
Paul Riseborough
52fabc822f
AP_NavEKF : Add low speed magnetometer calibration option
2014-03-09 19:59:16 +11:00
priseborough
6ace31b6c1
AP_NavEKF : Fix bug that leaves height unconstrained in static mode
2014-03-09 19:27:21 +11:00
Paul Riseborough
94ff7522fc
AP_NavEKF : Fix bug in initial East mag field state variance
2014-03-08 07:44:34 +11:00
Andrew Tridgell
449d09051e
AP_NavEKF: cope with compass going offline while in flight
2014-03-02 14:32:10 +11:00
Andrew Tridgell
77f91e6250
AP_NavEKF: don't assume the number of gyros == number of accels
2014-03-02 13:53:19 +11:00
Paul Riseborough
ebb3cc3348
AP_NavEKF : Use average of dual IMU gyro data when available
2014-03-02 13:28:44 +11:00
Paul Riseborough
a39d00fc13
AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated
2014-03-02 13:27:22 +11:00
Paul Riseborough
573b3210dd
AP_NavEKF : Add div0 protection to the IMU1_weighting calc
2014-03-02 08:10:06 +11:00
Paul Riseborough
bd152d332c
AP_NavEKF : Add accel aliasing protection
2014-03-02 08:10:04 +11:00
Paul Riseborough
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
2014-02-28 19:43:12 +11:00
Andrew Tridgell
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
2014-02-27 17:40:13 +11:00
Paul Riseborough
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
2014-02-27 17:20:38 +11:00
