Randy Mackay
b255c7b370
AP_NavEKF: add setOrigin
2017-04-22 10:37:31 +09:00
priseborough
fb7104f4e3
AP_NavEKF3: add fusion method for body frame odometry data
2017-04-19 11:04:40 +09:00
Andrew Tridgell
248773a7c8
AP_NavEKF3: allow access to quaternion for each instance
2017-04-16 14:01:36 +10:00
priseborough
8250fe4943
AP_NavEKF3: fix documentation derivation references
2017-04-10 15:47:35 +09:00
priseborough
06c073e448
AP_NavEKF3: Update tilt alignment check
2017-04-05 20:16:16 +10:00
Jonathan Challinger
c7a73e84d6
AP_NavEKF3: apply height innovation floor only when barometer is in use
2017-03-24 14:42:36 -07:00
priseborough
56a9e2c462
AP_NavEKF3: Reference correct derivation
2017-03-13 11:31:51 +11:00
priseborough
18927395d7
AP_NavEKF3: log correct GPS for replay
2017-03-13 11:31:51 +11:00
priseborough
01551a4423
AP_NavEKF3: handle position jump caused by change in GPS receiver
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If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
2017-03-13 11:31:51 +11:00
Randy Mackay
3e039a6ba4
AP_NavEKF3: minor formatting fixes
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No functional change
2017-03-06 18:40:18 +11:00
Randy Mackay
a80c0a231d
AP_NavEKF3: attempt to set-up every core
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previously we would only call setup_core for the 2nd core if the first had been setup successfully
2017-03-06 18:40:18 +11:00
priseborough
7a8783f35e
AP_NavEKF3: Fix bug preventing reset to GPS
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This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
2017-03-06 17:11:39 +11:00
Randy Mackay
3f6a734a71
AP_NavEKF3: only use downward facing rangefinder
2017-02-27 15:18:11 +09:00
Michael du Breuil
1de198883d
AP_NavEKF3: Check gps vertical accuracy for aligning the GPS
2017-02-22 11:53:42 -08:00
Jacob Walser
ac1e1b9460
AP_NavEKF3: Add set_baro_alt_noise method
2017-02-21 11:26:14 +11:00
Francisco Ferreira
23f959b92f
AP_NavEKF3: fix copied parameter descriptions
2017-02-15 19:20:04 +00:00
priseborough
de7a679534
AP_NavEKF3: Enable simple heading fusion to be set for specific cores
2017-02-15 19:09:45 +00:00
priseborough
ccb952ba31
AP_NavEKF3: Use the same mag fusion method for all cores
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The original reason for using a different method for the second core is no longer valid.
2017-02-15 19:01:10 +00:00
priseborough
e399f57ffa
AP_NavEKF3: prevent NaN if RNGFND_GNDCLEAR is zero
2017-02-15 07:04:38 +09:00
priseborough
784fa6fed8
AP_NavEKF3: fix compiler error
2017-01-27 16:57:42 +09:00
priseborough
2c36da2b21
AP_NavEKF3: relocate perf monitor to count all three mag components
2017-01-27 16:57:42 +09:00
priseborough
4d958952f6
AP_NavEKF3: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
priseborough
b5ba1d0346
AP_NavEKF3: protect against large delay values returned by the GPS library
2017-01-27 16:57:42 +09:00
priseborough
4540faf6af
AP_NavEKF3: Improve waiting for GPS configuration
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Do not time out and provide an escalating series of messages. We may need to adjust the time thresholds used for escalation.
Do not wait if the EKF is not using the GPS.
2017-01-27 16:57:42 +09:00
priseborough
52e8f687d9
AP_NavEKF3: fix logic bug introduced by magnetometer use changes
2017-01-27 16:57:42 +09:00
priseborough
a133d55b6d
AP_NavEKF3: Allow copters to fly with magnetometers disabled
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Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted)
Copter optical flow operation without a magnetometer is permitted.
The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.
2017-01-27 16:57:42 +09:00
priseborough
2e5ac40ef6
AP_NavEKF3: remove unnecessary stdio includes
2017-01-27 16:57:42 +09:00
priseborough
8688d1ddac
AP_NavEKF3: Improve range finder selection logic
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Fixes bug that could leave it locked out of range finder use.
2017-01-27 16:57:42 +09:00
priseborough
7e8f3fca53
AP_NavEKF3: Address review comments
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Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
2017-01-27 16:57:42 +09:00
priseborough
b723966b8d
AP_NavEKF2: Add protection against bad GPS time delay values
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Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.
2017-01-27 16:57:42 +09:00
priseborough
59ee074560
AP_NavEKF3: Remove EKF2 names
2017-01-27 16:57:42 +09:00
priseborough
b862f0d7ad
AP_NavEKF3: Enable use of GPS delay value from returned by the driver
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Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
2017-01-27 16:57:42 +09:00
priseborough
69a47d7522
AP_NavEKF3: Improve reporting of buffer allocation
2017-01-27 16:57:42 +09:00
priseborough
ceb42225fd
AP_NavEKF3: Ensure enough time to fill buffers when starting filter
2017-01-27 16:57:42 +09:00
priseborough
a8fd1d8bcd
AP_NavEKF3: fix potential time-stamping bug
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Use a consistent time reference
2017-01-27 16:57:42 +09:00
priseborough
8d1733cee6
AP_NavEKF3: Use FIR filtered airspeed
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Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
2017-01-27 16:57:42 +09:00
priseborough
9261c34097
AP_NavEKF3: Update default GPS delay
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This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.
2017-01-27 16:57:42 +09:00
priseborough
ed5039823f
AP_NavEKF3: Adapt sensor buffer lengths
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Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
2017-01-27 16:57:42 +09:00
priseborough
2cc48f78a7
AP_NavEKF3: Update range beacon fusion
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Add innovation consistency check to alignment filter and publish alignment filter status data
2017-01-27 16:57:42 +09:00
priseborough
92b8c33b19
AP_NavEKF3: publish 3-state range beacon estimator states
2017-01-27 16:57:42 +09:00
priseborough
7c53573a0c
AP_NavEKF3: Allow range beacon use with intermittent GPS
2017-01-27 16:57:42 +09:00
priseborough
e5e4883c72
AP_NavEKF3: Fix GPS use inhibit interface documentation
2017-01-27 16:57:42 +09:00
priseborough
c7e1828238
AP_NavEKF3: improve variable name
2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
cae557fb4c
AP_NavEKF3: Correct display names, bitmask and units
2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
195e32c2fc
AP_NavEKF3: fix some parameter descriptions
2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
d408d25f92
More spelling stuff
2017-01-06 10:57:39 -08:00
priseborough
71eb46dd04
AP_NavEKF3: Fix bug in loss of aiding fallback
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Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
2016-12-21 18:08:39 +11:00
priseborough
f1c05ee320
AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted
2016-12-19 08:07:15 +11:00
priseborough
7d4a50f483
AP_NavEKF3: Prevent unwanted core switch on startup
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Require primary core to be healthy for 10 seconds before starting selection logic
2016-12-19 08:07:14 +11:00
priseborough
cd6fd0ea45
AP_NavEKF3: Improvements to range finder selection logic
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Enables the horizontal speed at which we switch from range finder to alternate to be adjusted.
Does not switch from range finder to alternate based on speed when speed estimate is invalid.
2016-12-19 08:07:14 +11:00
