clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate
AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters
Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.
AP_NavEKF3: Prevent constant mag anomaly yaw resets
Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.
AP_NavEKF3: Add option to fly without magnetometer
AP_NavEKF3: Rework emergency yaw reset logic
Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.
AP_NavEKF3: Fix vulnerability to lane switch race condition
Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.
AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours
Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.
AP_NavEKF3: Update EK3_MAG_CAL documentation
AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag
AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor
Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
Paul Riseborough
Peter Barker
Tamas Nepusz
Josh Henderson
Andrew Tridgell
Paul Riseborough
Randy Mackay
Harshit Kumar Sankhla
Peter Hall
Michael du Breuil
Pierre Kancir
Arjun Vinod
Tom Pittenger
murata
priseborough