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66 Commits

Author SHA1 Message Date
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
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Paul Riseborough 246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough adae7365e1 AP_NavEKF3: Fix LLH reporting bug 2021-03-05 12:10:01 +11:00
Paul Riseborough 9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Andrew Tridgell ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
Peter Barker 3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell ac4a05ffbf AP_NavEKF3: fixed null dereference of airspeed 
this caused a segfault in replay
 2020-12-11 14:22:46 +11:00
Peter Barker e1a033b296 AP_NavEKF3: make logging a core concern 
Also dissolve some methods only used for logging
 2020-11-22 20:47:29 +11:00
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6daaa06317 AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource 
also integrate useVelZSource
 2020-11-20 16:43:44 +09:00
Randy Mackay ba9f60abc7 AP_NavEKF3: add getVelInnovationsAndVariancesForSource 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 2020-11-20 16:43:44 +09:00
Andrew Tridgell 9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 096aab9388 AP_NavEKF3: 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 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Harshit Kumar Sankhla edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
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
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla d7edc946b6 AP_NavEKF3: Relative Error based Lane-Switching 
Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
 2020-08-27 20:20:51 +10:00
Peter Barker 6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
Peter Barker 2e55584417 AP_NavEKF3: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Randy Mackay 67903a29e2 AP_NavEKF3: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
priseborough c5e465aec9 AP_NavEKF3: add external nav system support 
includes decoupling height source from use of external nav data
 2020-04-30 15:55:59 +09:00
Randy Mackay 91a79543c9 AP_NavEKF3: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay c1ef894a30 AP_NavEKF3: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Paul Riseborough 9f5e037015 AP_NavEKF3: Restore bug fix lost during rebase 2020-04-24 09:43:23 +10:00
Paul Riseborough 863f989130 AP_NavEKF3: Fix integration of GPS yaw options 
AP_NavEKF3: fix failure to arm with EK3_MAG_CAL = 7

AP_NavEKF3: Fix failure to arm when not using magnetometer

AP_NavEKF3: Reduce yaw drift when EK3_MAG_CAL = 7
 2020-04-24 09:43:22 +10:00
Paul Riseborough 410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate 
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.
 2020-04-24 09:43:22 +10:00
Andrew Tridgell be674fc36c AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Hall 47e3fda8e9 AP_NavEKF3: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Barker 9ed37e4486 AP_NavEKF3: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker 4431d01230 AP_NavEKF3: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Paul Riseborough 5b1d9ed868 AP_NavEKF3: Add missing vertical position derivative calculation 2019-10-18 11:15:25 +09:00
Andrew Tridgell f3fc910abe AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Pierre Kancir b3a1c9c90c AP_NavEKF3: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Paul Riseborough 35c82ef67f AP_NavEKF3: Improve optical flow height estimation 2019-04-02 10:51:12 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 390e0fa601 AP_NavEKF3: 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 f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger 55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Peter Barker dd8da7321c AP_NavEKF3: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Michael du Breuil 1991f223ac AP_NavEKF3: Fix roundoff, and missing offset handling of getLLH 2018-09-21 00:18:49 +01:00
Andrew Tridgell 4869dd0ae4 AP_NavEKF3: send airspeed variance over mavlink 2018-04-30 15:41:32 +10:00