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Commit Graph

103 Commits

Author SHA1 Message Date
Patrick José Pereira 3b0dac3198 AP_NavEKF3: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-23 10:30:05 +11:00
Randy Mackay 1814524fcb AP_NavEKF3: fix using_external_yaw when using external nav 
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
 2021-02-09 11:35:39 +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
Randy Mackay 27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay c14b4a8b6c AP_NavEKF3: add support for GSF as yaw source 2021-01-05 10:58:06 +11:00
Randy Mackay 5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay e819dbdd64 AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code 2020-12-15 19:29:16 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell 80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Paul Riseborough 8561f5239d AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate 2020-11-21 12:56:10 +11:00
Randy Mackay 04e3623620 AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
 2020-11-20 16:43:44 +09:00
Randy Mackay f88364d653 AP_NavEKF3: use_compass minor order fixup 2020-11-20 16:43:44 +09:00
Randy Mackay b475f01b25 AP_NavEKF3: update comments 2020-11-20 16:43:44 +09:00
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 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay 4cadaa5194 AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source 2020-11-20 16:43:44 +09:00
Randy Mackay faed58a027 AP_NavEKF3: integrate Source for yaw 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
Paul Riseborough aaf558f593 AP_NavEKF3: 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
Paul Riseborough db86a5acc8 AP_NavEKF3: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
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
Randy Mackay b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully 
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
 2020-10-28 19:06:53 +11:00
Randy Mackay 7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Paul Riseborough 64a3d8fe4e AP_NavEKF3: Update documentation 2020-10-26 11:03:50 +11:00
Paul Riseborough 90e928c32a AP_NavEKF3: Re-tune tilt alignment check 
New tilt error variance estimate is more accurate and larger than before.
 2020-10-26 11:03:50 +11:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Andrew Tridgell fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay 7398529f6b AP_NavEKF3: minor format fix 2020-09-28 20:57:39 +09:00
Andrew Tridgell 8a4b0f858a AP_NavEKF3: reset body mag variances at key points 
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
 2020-09-20 09:25:57 +10:00
Andrew Tridgell 1f21d72c79 AP_NavEKF3: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Randy Mackay 886a7d44a7 AP_NavEKF3: allow switch to ExtNav from optflow 2020-08-24 16:52:34 +09:00
Randy Mackay 6bf2057712 AP_NavEKF3: minor formatting fixes 2020-08-21 13:18:58 +09:00
Randy Mackay 4c40d2ac3f AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps 2020-08-21 13:18:58 +09:00
chobits 7ad9e3548f AP_NavEKF3: make reset source variable local 2020-08-10 09:43:28 +09:00
Peter Barker 6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
chobits 564244ce9a AP_NavEKF3: fix extnav vel reset 2020-07-17 14:13:06 +09:00
Paul Riseborough 24fccd5d87 AP_NavEKF3: Don't delay GPS use unnecessarily 
Fixed wing should not wait for bias state convergence after in-flight yaw alignment
 2020-07-07 15:33:58 +10:00
Paul Riseborough 9a4108f55e AP_NavEKF3: Simplify setting EK3_MAG_CAL 
Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
 2020-07-07 15:33:58 +10:00
Paul Riseborough 21ea5d5039 AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor 2020-07-07 15:33:58 +10:00
Paul Riseborough 354b551ef0 AP_NavEKF3: Handle repeated FW flight without magnetometer 
The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
 2020-07-07 15:33:58 +10:00
Paul Riseborough 8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Paul Riseborough bcd23e1063 AP_NavEKF3: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
chobits c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Randy Mackay 5ad3611142 AP_NavEKF3: improve ext nav glitch handling 
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
 2020-05-15 11:23:07 +09:00
Paul Riseborough 318811210f AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00