Paul Riseborough
2edf166252
AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor
2022-10-04 16:50:15 +09:00
Paul Riseborough
47189d2c73
AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors
...
Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
2022-10-04 16:50:15 +09:00
Peter Barker
0b16c4063e
AP_NavEKF3: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
2022-04-08 19:18:38 +10:00
Paul Riseborough
c0d88e2673
AP_NavEKF3: Fix vertical velocity reset
...
Fixes bug that prevents the vertical velocity being reset to the GPS if the position aiding has already timed out and improves sensitivity of the bad IMU data check.
2021-09-23 18:55:28 +10:00
Josh Henderson
3006d50f97
AP_NavEKF3: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +10:00
Randy Mackay
85ade10e85
AP_NavEKF3: ofDataNew made local
2021-08-24 16:49:04 +09:00
Randy Mackay
5779ebd177
AP_NavEKF3: remove unused Tbn_flow
2021-08-24 16:49:04 +09:00
Pierre Kancir
8216905f47
AP_NavEKF3: remove unecessary assignements
2021-08-12 10:39:49 +09:00
Peter Barker
c34284b6eb
AP_NavEKF3: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Paul Riseborough
0088b0f3fe
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-22 18:20:45 +10:00
Paul Riseborough
59d31cc7d5
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 18:20:45 +10:00
Andrew Tridgell
fc2118f42b
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
2021-07-21 17:59:49 +10:00
Andrew Tridgell
0b9cde5812
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-21 17:59:49 +10:00
Andrew Tridgell
6b73c2151a
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
2021-07-14 17:34:40 +10:00
Andrew Tridgell
a8c6d742aa
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-10 07:20:41 +10:00
Andrew Tridgell
885e518741
AP_NavEKF3: allow for double EKF build
2021-07-10 07:20:41 +10:00
Josh Henderson
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
2021-06-22 12:01:10 +10:00
Josh Henderson
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
2021-06-22 12:01:10 +10:00
Paul Riseborough
76d0dcc25c
AP_NavEKF3: Use common method for handling baro ground effect
2021-06-02 11:13:16 +09:00
Andrew Tridgell
dc9435a88d
AP_NavEKF3: don't limit baro change when we are in fixed wing mode
2021-06-02 11:13:16 +09:00
Peter Barker
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Paul Riseborough
53c4b163ce
AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity
...
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
2021-03-23 10:05:59 +11:00
Peter Barker
4605870788
AP_NavEKF3: remove separate calls to get delta-times for vel and ang
2021-03-13 11:29:29 +11:00
Paul Riseborough
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
...
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
2021-03-05 12:10:01 +11:00
Andrew Tridgell
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
1ccda938cb
AP_NavEKF3: make external navigation optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
2021-01-24 11:56:52 +11:00
Randy Mackay
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c
AP_NavEKF3: add support for GSF as yaw source
2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
2021-01-05 10:58:06 +11:00
Paul Riseborough
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
2020-12-15 19:29:16 +11:00
Paul Riseborough
bdc202378a
AP_NavEKF3: fix white space
2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09
AP_NavEKF3: Formatting and comment fixes
2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e
AP_NavEKF3: rework parameter handling
...
and fixed indentation
2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
2020-12-11 15:21:41 +11:00
Andrew Tridgell
2071a19a40
AP_NavEKF3: only fuse airspeed if healthy
2020-12-11 09:59:49 +11:00
chobits
013b39d2a6
AP_NavEKF3: fix ext nav vel timestamp cal
2020-12-07 08:54:42 +09:00
Andrew Tridgell
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
...
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
2020-12-01 10:53:08 +11:00
Peter Barker
2d25149e2e
AP_NavEKF3: move global state to be on the stack
2020-12-01 10:40:09 +11:00
Andrew Tridgell
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Peter Barker
52b8b95a72
AP_NavEKF3: rearrange readGPSData to remove some nesting
2020-11-30 11:51:12 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Andrew Tridgell
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027
AP_NavEKF3: integrate Source for yaw
2020-11-20 16:43:44 +09:00
Randy Mackay
8931e50166
AP_NavEKF3: integrate Source for alt
2020-11-20 16:43:44 +09:00
Randy Mackay
c21d58ebea
AP_NavEKF3: integrate Source for position
2020-11-20 16:43:44 +09:00