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651 Commits

Author SHA1 Message Date
Paul Riseborough d118c8fc38 AP_NavEKF2: Fix range aid switching logic 
Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK2_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Pierre Kancir 9bbd2b19c2 AP_NavEKF2: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay 989ffb79cd AP_NavEKF2: minor format fix 2020-06-19 13:46:52 +09:00
Randy Mackay 966d59a26d AP_NavEKF2: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
chobits f5f403947c AP_NavEKF2: clarify POSNE_M_NSE desc 2020-06-09 20:44:57 +09:00
chobits e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Randy Mackay 6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Peter Barker b02d9abd32 AP_NavEKF2: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
chobits dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +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
Andy Piper 9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Randy Mackay f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough c94de61e29 AP_NavEKF2: 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
chobits a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Paul Riseborough e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Randy Mackay 90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Randy Mackay 2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay 6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay 990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay 43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay 014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay 3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker 7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell d8c533e7ab AP_NavEKF2: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough 8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough 49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Randy Mackay 4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
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
Randy Mackay d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay 91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell 6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell 3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough 6952d83f00 AP_NavEKF2: Fix casting build error 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
Randy Mackay 35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay 85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay 8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Randy Mackay 9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell c9755cf9e6 AP_NavEKF2: 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 Barker 903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Andrew Tridgell 9030590a88 AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-02-19 18:12:54 +11:00
Siddharth Purohit 4cca1c307c AP_NavEKF2: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Peter Hall e0eeb4f863 AP_NavEKF2: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
chobits a54f24c8c0 AP_NavEKF2: switch to optflow if gps is jammed 2020-02-04 10:13:57 +09:00
Peter Barker da3d3cc21b AP_NavEKF: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Hall 2970334c0d AP_NavEKF2: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker 524647d221 AP_NavEKF2: use instance number when logging rather than multiple message IDs 2019-12-17 12:22:07 +11:00
Peter Barker 060c851709 AP_NavEKF2: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker 369292f7f3 AP_NavEKF2: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker 239df941e5 AP_NavEKF2: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell fce4d6952f AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Mark Whitehorn 5f6b3a1f5b AP_NavEKF2: clean up init failure handling 
only attempt to allocate memory once
 2019-11-26 11:59:10 +11:00
Peter Barker 99689f65f8 AP_NavEKF2: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker 9735684184 AP_NavEKF2: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn 23ee9eef5f AP_NavEKF2: fail prearm on any core setup failure 2019-11-05 11:23:54 +11:00
Mark Whitehorn 489ae83604 AP_NavEKF2: handle core setup failures 2019-11-05 11:23:54 +11:00
Mark Whitehorn 7c6630e216 AP_NavEKF2: EKF2 prefix for prearm failures and camelCase 2019-11-05 11:23:54 +11:00
Mark Whitehorn 95ea6ad807 AP_NavEKF2: provide reasons for init failures 2019-11-05 11:23:54 +11:00
Randy Mackay cc5facf6d2 AP_NavEKF2: initialise pre-arm failure message 2019-10-31 09:51:27 +08:00
Mark Whitehorn 6e73feca5c AP_NavEKF2: add prearm failure message for null core pointer 2019-10-29 11:59:29 +08:00
Randy Mackay e32a8556b2 AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled 2019-10-22 07:15:48 +08:00
Randy Mackay e2d3afaaa7 AP_NavEKF2: reduce EK2_HRT_FILT max to 30 2019-10-18 11:15:25 +09:00
Paul Riseborough c26c6fd078 AP_NavEKF2: Add missing vertical position derivative calculation 
Use a third order order complementary filter to estimate the rate of change of vertical position output.
 2019-10-18 11:15:25 +09:00
Andrew Tridgell cbe34320b5 AP_NavEKF2: fixed build 
broken by recent common variable change
 2019-10-01 17:35:26 +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 8dd2119b14 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-09-28 08:57:26 +10:00
Andrew Tridgell 163efd0df5 AP_NavEKF2: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Peter Barker 952d4d2cbc AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2019-09-25 12:54:55 +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 9226899c6f AP_NavEKF2: added comment (review request) 2019-09-24 12:51:54 +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 96c6544997 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell 0041874826 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell 1d47f9186e AP_NavEKF2: fixed use of old irqsave() API 2019-09-21 15:36:47 +10:00
Peter Barker 3619856fc9 AP_NavEKF2: correct return of empty prearm string 2019-09-19 08:47:47 +09:00
Randy Mackay 94a52b3525 EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Michael du Breuil a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Peter Barker c8fac758ee AP_NavEKF2: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Andrew Tridgell 414d3eb670 AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3 
when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code

This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
 2019-08-26 12:27:31 +10:00
hoangthien94 fc9ff2b09a AP_NavEKF2: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
Andrew Tridgell 098701ec79 AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Andrew Tridgell e7163afe06 AP_NavEKF2: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell c57b25b4c9 AP_NavEKF2: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell a01faa2f00 AP_NavEKF2: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-07-29 10:08:22 +10:00
Andrew Tridgell 742ae0b750 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell 5db41147ed AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Siddharth Purohit 1527a5b97c AP_NavEKF2: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
Andrew Tridgell 2427440e13 AP_NavEKF2: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell e8d9a1fae9 AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell f5fd38aef2 AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell 9372073f63 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00