Commit Graph

130 Commits

Author SHA1 Message Date
Peter Barker d38ff1dd2c AP_NavEKF3: initialise EKF3 constants in declaration not constructor 2018-04-07 09:54:21 +09:00
Peter Barker 7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell c13eaf0c7f AP_NavEKF3: removed create() method for objects
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Andrew Tridgell 2c6593e35e AP_NavEKF3: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Lucas De Marchi bd6145af6d AP_NavEKF3: add static create method 2017-09-26 03:01:21 +01:00
priseborough 2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough c7f6d52065 AP_NavEKF3: Add wheel encoder odometry
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
2017-07-27 16:52:27 +09:00
priseborough 593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error
Also adjust default values based on replay analysis.
2017-07-27 16:52:25 +09:00
priseborough 3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 2b97d0f5c9 AP_NavEKF3: Add public accessor for state variances 2017-06-14 12:44:41 +01:00
priseborough 9da3caca47 AP_NavEKF3: Improve GPS reference height estimator
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas c1eb9fb9c3 AP_NavEKF3: Spell in comments 2017-05-18 09:29:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 23b7f1e645 AP_NavEKF3: Improve comments, typos 2017-05-03 08:45:01 +09:00
Andrew Tridgell a04aff7a7d AP_NavEKF3: added inter-EKF scheduling cooperation
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
2017-05-01 14:24:55 +10:00
Andrew Tridgell adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell 248773a7c8 AP_NavEKF3: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough 56a9e2c462 AP_NavEKF3: Reference correct derivation 2017-03-13 11:31:51 +11:00
Randy Mackay 3e039a6ba4 AP_NavEKF3: minor formatting fixes
No functional change
2017-03-06 18:40:18 +11:00
Jacob Walser ac1e1b9460 AP_NavEKF3: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough de7a679534 AP_NavEKF3: Enable simple heading fusion to be set for specific cores 2017-02-15 19:09:45 +00:00
priseborough b862f0d7ad AP_NavEKF3: Enable use of GPS delay value from returned by the driver
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
2017-01-27 16:57:42 +09:00
priseborough ed5039823f AP_NavEKF3: Adapt sensor buffer lengths
Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
2017-01-27 16:57:42 +09:00
priseborough 92b8c33b19 AP_NavEKF3: publish 3-state range beacon estimator states 2017-01-27 16:57:42 +09:00
priseborough e5e4883c72 AP_NavEKF3: Fix GPS use inhibit interface documentation 2017-01-27 16:57:42 +09:00
priseborough f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00
priseborough 7d4a50f483 AP_NavEKF3: Prevent unwanted core switch on startup
Require primary core to be healthy for 10 seconds before starting selection logic
2016-12-19 08:07:14 +11:00
priseborough cd6fd0ea45 AP_NavEKF3: Improvements to range finder selection logic
Enables the horizontal speed at which we switch from range finder to alternate to be adjusted.
Does not switch from range finder to alternate based on speed when speed estimate is invalid.
2016-12-19 08:07:14 +11:00
priseborough 39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: 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.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
2016-12-19 08:06:47 +11:00