Andrew Tridgell
e9ed3540f1
AP_NavEKF2: constrain field by table after fusion
...
this should make for faster convergence
2019-06-03 12:21:29 +10:00
Andrew Tridgell
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
...
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
2019-06-03 12:21:29 +10:00
Randy Mackay
e19d638c0f
AP_NavEKF2: support higher optical flow updates rates
2019-05-11 16:23:57 +09:00
Andrew Tridgell
cc62998d40
AP_NavEKF2: 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
7f639c1bb2
AP_NavEKF2: Allow checking all cores for failure
2019-04-09 10:53:25 +10:00
Pierre Kancir
50e99b6e1a
AP_NavEKF2: use get_distance_NE instead of location_diff
2019-04-08 08:00:52 -07:00
Pierre Kancir
3f5a6a243c
AP_NavEKF2: use get_distance instead of location_diff
2019-04-08 08:00:52 -07:00
Paul Riseborough
8038efc152
AP_NavEKF2: Flow use parameter updates
2019-04-02 10:51:12 +11:00
Paul Riseborough
e2148e7e2a
AP_NavEKF2: 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
aa6eee82f4
AP_NavEKF2: Rework opt flow terrain height logic
2019-04-02 10:51:12 +11:00
Paul Riseborough
67d20f3b3c
AP_NavEKF2: Update parameter description
2019-04-02 10:51:12 +11:00
Paul Riseborough
1862512c2b
AP_NavEKF2: Use flow sensor for navigation with unknown platform type
...
This is the more common use case.
2019-04-02 10:51:12 +11:00
Paul Riseborough
921205f61c
AP_NavEKF2: Minor amendments from review
2019-04-02 10:51:12 +11:00
Paul Riseborough
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
...
Updated derivation using sequential fusion of Y and X axis data.
2019-04-02 10:51:12 +11:00
Paul Riseborough
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
2019-04-02 10:51:12 +11:00
Mark Whitehorn
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
2019-03-29 10:58:00 +11:00
Tom Pittenger
8506ae9c32
AP_NavEKF2: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
79ee52917f
AP_NavEKF2: 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
78b165e36f
AP_NavEKF2: fixed typos
2019-02-26 08:33:39 +11:00
Arjun Vinod
a0e7c37f8c
AP_NavEKF2: fixed typos
2019-02-22 10:21:35 +11:00
Tom Pittenger
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
2019-02-17 12:59:52 -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
ccc1f906f8
AP_NavEKF2: 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
chobits
3766ee1b60
AP_NavEKF2: add external navigation data lag
2019-01-31 08:30:22 +09:00
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
ebd12b30e8
AP_NavEKF2: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
Peter Barker
9be604e3ce
AP_NavEKF2: 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
49d20364cb
AP_NavEKF2: pass quaternion by const reference
2018-12-20 09:05:01 +09:00
Andrew Tridgell
8ea7df3efe
AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed
2018-11-30 11:02:30 +11:00
Michael du Breuil
29db069c75
AP_NavEKF2: Suppress clearing non-trival type warning
2018-10-30 16:17:03 -07:00
chobitsfan
1e56ad4837
AP_NavEKF2: add external nav system to POSNE_M_NSE description
2018-10-24 19:14:54 +09:00
chobits
08b9bf4a89
AP_NavEKF2: fix extNav position noise
2018-10-24 19:14:54 +09:00
Andrew Tridgell
805647df85
AP_NavEKF2: enable use of in-flight compass learning
2018-10-24 07:25:42 +10:00
Peter Barker
1c1d651979
AP_NavEKF2: add space for null-termination
...
This is simply to preserve existing behaviour when snprintf starts to
null-terminate strings
2018-10-21 07:54:30 +11:00
Peter Barker
3a79ae4eca
AP_NavEKF2: use union to alias array and struct access to states
...
This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on which
is deemed faster - not a good outcome.
2018-10-19 08:46:43 +11:00
Peter Barker
fb176b544f
AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES
2018-10-19 08:46:43 +11:00
Peter Barker
889190d46e
AP_NavEKF2: always set EKF control limits, even with no cores
2018-10-09 10:47:38 +11:00
Peter Barker
3774aa6619
AP_NavEKF2: remove default clause in setAidingMode
...
All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
2018-10-03 17:49:43 +01:00
Michael du Breuil
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
2018-09-21 00:18:49 +01:00
Peter Barker
d8aa8d2b71
AP_NavEKF2: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
2018-09-11 09:03:22 +10:00
Michael du Breuil
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
2018-08-07 09:55:26 +10:00
Randy Mackay
3d72022f6e
EKF: modify ALT_SOURCE param description
...
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
2018-07-18 08:31:09 +09:00
Andrew Tridgell
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
2018-07-14 17:49:52 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
59e087214f
AP_NavEKF2: spell in comments (NFC)
2018-07-10 08:17:57 +09:00
Peter Barker
baa818a812
AP_NavEKF2: use compass singleton for logging
2018-07-04 20:11:27 +01:00
murata
a9b2b9dddf
AP_NavEKF2: Delete unused definitions
2018-06-11 09:11:44 +09:00
murata
1e011c0c15
AP_NavEKF2: Clarify the message
2018-06-04 11:32:15 +09:00
Andrew Tridgell
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
2018-04-30 15:41:31 +10:00