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Commit Graph

597 Commits

Author SHA1 Message Date
Randy Mackay
87212e0fbf AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 11:05:38 +09:00
Randy Mackay
6670a48811 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 11:05:37 +09:00
Paul Riseborough
d90c67a079 AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
28224c001a AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-23 10:19:50 +09:00
Paul Riseborough
5a3f785798 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
4b4bb18f50 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.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8 AP_NavEKF3: Make bad IMU status more persistent 2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d AP_NavEKF3: Update covariance prediction equations 2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-23 10:19:49 +09:00
Randy Mackay
0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Peter Barker
304927a41e AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca 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
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6 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.
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba AP_NavEKF3: allow for double EKF build 2021-07-23 10:19:46 +09:00
Paul Riseborough
1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Paul Riseborough
9d85a4292e AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-06-23 13:26:02 +09:00
Paul Riseborough
de3c6d6e5c AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-06-23 13:26:02 +09:00
Paul Riseborough
ac92182153 AP_NavEKF3: Clean up initialisation of boolean array 2021-06-23 13:26:02 +09:00
Paul Riseborough
b0763f04f1 AP_NavEKF3: Remove unwanted line 2021-06-23 13:26:02 +09:00
Paul Riseborough
b7aad13cc8 AP_NavEKF3: Protect against collapse of velocity and position variances 2021-06-23 13:26:02 +09:00
Paul Riseborough
36160ba9ce AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough
5d00b7d042 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-06-23 13:26:02 +09:00
Paul Riseborough
e4eb8339d0 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-06-23 13:26:02 +09:00
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
Peter Barker
d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker
dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Siddharth Purohit
cd5b764fd8 AP_NavEKF3: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Paul Riseborough
a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough
124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00