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Commit Graph

111 Commits

Author SHA1 Message Date
Henry Wurzburg 5e6447e893 AP_NavEKF2: update and correct GSF parameter documentation 2022-02-15 10:56:35 +11:00
Josh Henderson d5f5a3024a AP_NavEKF2: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Andrew Tridgell 6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Siddharth Purohit 124eaf1a38 AP_NavEKF2: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
murata a5b6ce9220 AP_NavEKF2: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
murata af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Peter Barker addd57dcab AP_NavEKF2: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Paul Riseborough 248ef92ed7 AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw 
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
 2020-11-16 16:01:13 +11:00
Andrew Tridgell 6be3d19e82 AP_NavEKF2: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Paul Riseborough da7bb44a61 AP_NavEKF2: Consolidate magnetometer timeout checks 2020-09-08 11:01:14 +10:00
Peter Barker 032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
chobits e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Peter Barker 19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Paul Riseborough af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling 
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
 2020-05-20 15:09:32 +10:00
Randy Mackay 990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay 0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Andrew Tridgell 6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Paul Riseborough 0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Andrew Tridgell f7e138bddd AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-01 15:39:03 +10:00
Andrew Tridgell d40d812ea4 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2019-09-24 14:59:17 +10:00
Andrew Tridgell 255981c60c AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2019-09-24 12:51:54 +10:00
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
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
Paul Riseborough c680b931dc AP_NavEKF2: Enable fusion of external nav position data 2018-03-27 20:28:42 +09:00
Peter Barker 5da3759ff4 AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Randy Mackay 7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough 1985dcd366 AP_NavEKF2: Fix bug in declination fusion 2017-06-03 15:16:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
priseborough 596b20eb07 AP_NavEKF2: close perf counter when doing early return 2017-04-27 20:14:21 +10:00
priseborough 88469ce80c AP_NavEKF2: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
priseborough a63eac8073 AP_NavEKF2: Add missing perf_end 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
priseborough ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Jonathan Challinger d1ecc63bf1 AP_NavEKF2: change priority of statustext messages 2016-07-29 13:19:51 +09:00
Andrew Tridgell 567d5cdbe6 AP_NavEKF2: use mavlink messages not printf for state change notifications 2016-07-19 12:16:51 +10:00
priseborough e34cdc6666 AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers 
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
 2016-07-19 12:16:50 +10:00
priseborough 8793c75da0 AP_NavEKF2: clean up mag field learned logic 2016-07-11 00:44:33 +10:00
priseborough 10470b2dc1 AP_NavEKF2: fix bug in initialisation of declination co-variances 
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
 2016-07-10 08:21:18 +10:00
priseborough 6b04a81b8d AP_NavEKF2: Fix plane in-flight yaw reset bug 
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.

1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
 2016-07-10 08:21:18 +10:00
priseborough 51dbed2338 AP_NavEKF2: remember mag field states between flight on same power cycle 
Remember the mag bias and earth field states learned during flight when the vehicle  lands.
This improves performance for vehicles that do multiple flight on one power cycle
 2016-07-10 08:21:18 +10:00
priseborough 136df7cb5c AP_NavEKF2: reduce declination errors on start of 3-axis fusion 
Reset co-variances for NE field states.
 2016-07-10 08:21:18 +10:00
priseborough 191c34612d AP_NavEKF2: Fix bug in use of corrected IMU data 
IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
 2016-07-09 15:57:35 +10:00
Paul Riseborough 4a8689aa97 AP_NavEKF2: remove duplicate if statements from mag fusion 2016-06-28 14:20:13 +10:00
Paul Riseborough 1400dc9d02 AP_NavEKF2: Add tuning parameters for magentic yaw fusion 
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
 2016-06-28 14:20:12 +10:00