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189 Commits

Author SHA1 Message Date
priseborough 209a32b8b9 AP_NavEKF3: Fix bug in use of external 321 yaw to align 2019-07-13 11:05:57 +10:00
priseborough 122f214416 AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor 2019-07-13 11:05:57 +10:00
Andrew Tridgell b56914b879 AP_NavEKF3: use GPS yaw if available and enabled 
this allows a suitable GPS to be used as an external yaw source
 2019-07-13 11:05:57 +10:00
priseborough 0c4f92d4c1 AP_NavEKF3: Add control logic to use external yaw sensor 2019-07-13 11:05:57 +10:00
priseborough 71d358803a AP_NavEKF3: Fix yaw sensor alignment status reporting 2019-07-13 11:05:57 +10:00
priseborough 977a7b68ed AP_NavEKF3: Add push to buffer for external yaw sensor data 2019-07-13 11:05:57 +10:00
priseborough 0a971c5181 AP_NavEKF3: Add function to reset yaw to external measurement 2019-07-13 11:05:57 +10:00
Andrew Tridgell 62575a194c AP_NavEKF3: Add data buffers for yaw sensor 2019-07-13 11:05:57 +10:00
priseborough 87c7649d09 AP_NavEKF3: Add interface for yaw angle measurements 2019-07-13 11:05:57 +10:00
Andrew Tridgell 634db441f8 AP_NavEKF3: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell 92783bccfa AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell 3f9e48951b AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell b9a5794671 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell 2208689893 AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell 209bca162c AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-07 19:03:01 +10:00
Peter Barker ce45baa034 AP_NavEKF3: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker f3f364de26 AP_NavEKF3: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Andrew Tridgell 5151416080 AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Peter Barker ef2589738d AP_NavEKF3: use beacon singleton 2019-07-01 07:20:58 +09:00
Michael du Breuil b624f6f008 AP_NavEKF3: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Andrew Tridgell 60831c2878 AP_NavEKF3: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Peter Barker dce472745e AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Jaaaky f21e4d833c AP_NavEKF3: Fix GPS < 3D empty PreArm: msg-as EKF2 2019-05-20 16:57:57 +10:00
Randy Mackay 0a5d6a430a AP_NavEKF3: accept optical flow data at up to 50hz 2019-05-11 16:23:57 +09:00
Andrew Tridgell e4f6ffe719 AP_NavEKF3: fixed bug in EKF lane selection 
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
 2019-05-07 06:59:50 +10:00
Michael du Breuil fe3b29a088 AP_NavEKF3: Allow checking all cores for health 2019-04-09 10:53:25 +10:00
Pierre Kancir b3a1c9c90c AP_NavEKF3: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Paul Riseborough 9aaa0cd2e0 AP_NavEKF3: Fix typo in comment 2019-04-02 10:51:12 +11:00
Paul Riseborough b7e0a2345c AP_NavEKF3: Fix indexing error 
Caused by copy and paste from AP_NavEKF2 which useds index 5 for vertical velocity. EKF3  should use index 6.
 2019-04-02 10:51:12 +11:00
Paul Riseborough 0d3e1a7d23 AP_NavEKF3: flow use parameter improvements 2019-04-02 10:51:12 +11:00
Paul Riseborough d3e9281846 AP_NavEKF3: Update default plane optical flow param values 
Reduce time required to form estimate of terrain offset
 2019-04-02 10:51:12 +11:00
Paul Riseborough 35c82ef67f AP_NavEKF3: Improve optical flow height estimation 2019-04-02 10:51:12 +11:00
Paul Riseborough b848e231c7 AP_NavEKF3: Add parameter to control how optical flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn 3c432cf25c AP_NavEKF3: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Tom Pittenger 17ee20af3f AP_NavEKF3: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 390e0fa601 AP_NavEKF3: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Arjun Vinod f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger 55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Tom Pittenger 8a6a39b590 AP_NavEKF3: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell 39ffef1f08 AP_NavEKF3: fixed EKF compass switching 
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
 2019-02-09 13:04:52 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 0d4475f443 AP_NavEKF3: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker dd8da7321c AP_NavEKF3: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay c616587b86 AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005 2018-12-27 14:09:53 +09:00
Pierre Kancir 340429fbbb AP_NavEKF3: pass by const reference when needed 2018-12-20 09:05:01 +09:00
Michael du Breuil 25ef5fed82 AP_NavEKF3: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Andrew Tridgell de58fb4637 AP_NavEKF3: support in-flight compass learning 2018-10-24 07:25:42 +10:00