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f2c506339a
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283 Commits

Author SHA1 Message Date
priseborough
f2c506339a AP_NavEKF: Reduce time required to recover from GPS timeouts 
The time required for GPS to be lost or rejected before vehicles with airspeed sensors either reset to GPS or invoke the zero side-slip assumption to constrain drift has been reduced from 15 to 10 seconds
A duplicate zeroing of the GPS position offset has been removed
If the vehicle is a non hovering vehicle (eg a plane) then the speed at which the GPS offset is pulled back to zero after a reset is increased from 1 to 3  m/s

This also improves recovery from bad inertial data for planes
 2014-12-18 21:50:40 +11:00
priseborough
f73816dbb5 AP_NavEKF: Improve robustness to long periods without GPS 2014-12-18 21:07:45 +11:00
priseborough
3afde0061f AP_NavEKF: Use named states for velocity reset 
Readibility improvement
 2014-12-18 17:29:50 +11:00
priseborough
f6ce25df2a AP_NavEKF: Do not reset vertical velocity state from GPS 
Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.
 2014-12-18 17:29:47 +11:00
Randy Mackay
e581e81da5 AP_NavEKF: reorder declation to fix compiler warning 
No functional change
 2014-12-11 15:37:56 +09:00
Andrew Tridgell
cb9c518ab8 Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" 
This reverts commit 13df6fb1c9.

This patch was a result of an incorrect merge of the optflow branch
into master. It reintroduced the bug fixed by this commit:

  AP_NavEKF : Fix bug in reset of GPS glitch offset
  8aa267f75f
 2014-12-08 07:53:47 +11:00
priseborough
a2bd3b4a42 AP_NavEKF: Add public method returning height above ground level 2014-12-06 18:16:51 +11:00
priseborough
d701cfcb75 AP_NavEKF: Output terrain relative PosD when relying on Optical Flow 2014-12-06 18:16:51 +11:00
priseborough
0156d846f1 AP_NavEKF: Increase height at which nav gain reduction starts 
Compensates for optical flow induced noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
a905432ffe AP_NavEKF: reduce height at which nav gain reduction starts 2014-12-06 18:16:51 +11:00
priseborough
5785272933 AP_NavEKF: Improve robustness to corrupted flow sensor data 2014-12-06 18:16:51 +11:00
priseborough
b1d44d4dde AP_NavEKF: Add protection for negative height above ground 2014-12-06 18:16:50 +11:00
priseborough
d994da0886 AP_NavEKF: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
bc2255d6b1 AP_NavEKF: Improve comments in setInhibitGPS public method 2014-12-06 18:16:50 +11:00
priseborough
416eaf4633 AP_NavEKF: Apply single definition of using optical flow 2014-12-06 18:16:50 +11:00
priseborough
b56b68ce10 AP_NavEKF: Add public method reporting horizontal speed limit 
This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating
 2014-12-06 18:16:50 +11:00
priseborough
c8fb376cc4 AP_NavEKF: Fix bug in bias rate of change limiting 
This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
 2014-12-06 18:16:50 +11:00
priseborough
599e53f3f2 AP_NavEKF: Prevent flow scale factor updating on ground 2014-12-06 18:16:49 +11:00
priseborough
083e22966c AP_NavEKF: Add public method to report available output data 2014-12-06 18:16:49 +11:00
priseborough
e53d28854e AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough
8fb1d9cf8d AP_NavEKF: Fix bug preventing opt flow scale factor estimation 
Also removes un-used variable declarations
 2014-12-06 18:16:49 +11:00
priseborough
52c7e56a4a AP_NavEKF: Add parameter for max valid optical flow rate magnitude 2014-12-06 18:16:49 +11:00
priseborough
6f8971d80a AP_NavEKF: Speed up flow sensor gyro bias correction 2014-12-06 18:16:49 +11:00
priseborough
d7ad45ebda AP_NavEKF: Don't fuse flow measurements if too big 2014-12-06 18:16:49 +11:00
priseborough
84944fdd4e AP_NAvEKF: Revert back to 10Hz fusion 2014-12-06 18:16:49 +11:00
priseborough
1f78a73cdb AP_NavEKF: Make flow measurement delay vehicle specific 
This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
 2014-12-06 18:16:49 +11:00
priseborough
5f941655a8 AP_NavEKF: changes to support to 20Hz flow fusion rate 2014-12-06 18:16:48 +11:00
priseborough
0bf991eef9 AP_NavEKF: Fix bug in optical flow fusion smoothing 2014-12-06 18:16:48 +11:00
priseborough
839b814d12 AP_NavEKF : Inhibit flow and range fusion in static mode 2014-12-06 18:16:47 +11:00
priseborough
9b9934ac06 AP_NavEKF : fix velocity timeout bug during optical flow operation 2014-12-06 18:16:47 +11:00
priseborough
517026980b AP_NavEKF : Add fault and timeout logging 2014-12-06 18:16:47 +11:00
priseborough
f640ec30ff AP_NavEKF : Reset held velocity on arming 
This held velocity is used to constrain the drift in the optical flow solution before the vehicle is high enough for the optical flow sensor to work.
 2014-12-06 18:16:47 +11:00
priseborough
06c19a3a4d AP_NavEKF : Update optical flow debug logging 2014-12-06 18:16:47 +11:00
priseborough
1791dec622 AP_NavEKF : Fix velocity hold mode 2014-12-06 18:16:47 +11:00
priseborough
84421e0a35 AP_NavEKF : Adjust initial flow scale factor and limits 2014-12-06 18:16:47 +11:00
priseborough
573633daf7 AP_NavEKF : Fix incorrect use of flow sensor time-stamp 
flow sensor time stamp is now issued by the flow sensor and is on a different time-base
 2014-12-06 18:16:47 +11:00
priseborough
9ea97c1a38 AP_NavEKF : Modify optical flow data interface 
Sign conventions have changed
 2014-12-06 18:16:46 +11:00
priseborough
8faeb190de AP_NavEKF : Rework logic to cope with bad flow data 2014-12-06 18:16:46 +11:00
priseborough
41f0231cfb AP_NavEKF : improve logic dealing with lack of flow or range data 2014-12-06 18:16:46 +11:00
priseborough
9ba46ad795 AP_NavEKF : Improve handling of flow sensor failure 2014-12-06 18:16:46 +11:00
priseborough
2ee1c549be AP_NavEKF : improve criteria used to inhibit scale factor estimation 2014-12-06 18:16:46 +11:00
priseborough
e09ff84218 AP_NavEKF : Don't estimate focal length scale factor without reliable velocity 2014-12-06 18:16:46 +11:00
priseborough
4c92a5f23f AP_NavEKF : Use GPS velocity if PX4Flow sensor fails 2014-12-06 18:16:46 +11:00
priseborough
283811edcb AP_NavEKF : stop velocity change when flow measurements drop out 2014-12-06 18:16:46 +11:00
priseborough
9132fcfe43 AP_NavEKF : Change mag fusion to use corrected compass values 
This enables compass units to be switched in-flight
 2014-12-06 18:16:46 +11:00
priseborough
c3be486c29 AP_NavEKF : Enable inhibiting of GPS measurements 2014-12-06 18:16:45 +11:00
priseborough
79698f7742 AP_NavEKF : improvements to range finder fusion 2014-12-06 18:16:45 +11:00
priseborough
1222559da0 AP_NavEKF : Fix bug affecting sonar fusion 2014-12-06 18:16:45 +11:00
priseborough
117bd2a998 AP_NavEKF : Add time based noise to terrain offset state 2014-12-06 18:16:45 +11:00
priseborough
b1d3d5d9a3 AP_NavEKF : Don't update focal length scale factor at low speeds 2014-12-06 18:16:45 +11:00