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Commit Graph

208 Commits

Author SHA1 Message Date
Peter Barker
c46a50f428 AP_NavEKF2: stop using GCS_MAVLINK.h in header files 
... by passing through a reference to a link object instead
 2022-08-16 09:45:51 +10:00
Andrew Tridgell
949975a856 AP_NavEKF2: set rejecting_airspeed flag 
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
 2022-02-07 14:13:49 +11:00
Andrew Tridgell
52209d9d1a AP_NavEKF2: fixed gaps in EKF logging 
timestamps should not be static as otherwise some lanes will not be
logged
 2021-12-28 16:03:47 +11:00
Andrew Tridgell
0d8cf00c5a AP_NavEKF2: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Peter Barker
b5f165ce2e AP_NavEKF2: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Andrew Tridgell
6aca0bb08a AP_NavEKF2: allow for double EKF build 2021-07-10 07:20:41 +10:00
Josh Henderson
d7ecd6883d AP_NavEKF2: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf2
 2021-06-22 12:01:10 +10:00
Andrew Tridgell
32b079911f AP_NavEKF2: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
murata
af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Patrick José Pereira
53eb2f2bf4 AP_NavEKF2: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker
dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker
6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Paul Riseborough
b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Peter Barker
d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Peter Barker
fc7e7dcee4 AP_NavEKF2: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker
addd57dcab AP_NavEKF2: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker
0aa10d8281 AP_NavEKF2: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker
3a98d51427 AP_NavEKF2: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker
400ba7a9df AP_NavEKF2: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell
7313e9eb0f AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell
39ba8a8c83 AP_NavEKF2: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell
16f7e51ea5 AP_NavEKF2: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82 AP_NavEKF2: 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
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
53305ba2a4 AP_NavEKF2: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
312cf725aa AP_NavEKF2: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
80f9ef7ed1 AP_NavEKF2: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Andrew Tridgell
35e95d3328 AP_NavEKF2: reset body mag variances at key points 
reset on sensor switch or when changing to 3D fusion
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
067001bd61 AP_NavEKF2: take into account alignment when comparing cores 
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
 2020-09-14 20:29:04 +10:00
Andrew Tridgell
6b9e595602 AP_NavEKF2: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Peter Barker
032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
Peter Barker
081c0bbfe0 AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Randy Mackay
a8c2be26ba AP_NavEKF2: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Paul Riseborough
502b96f49c AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor 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
6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
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
Randy Mackay
f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
6e93f54cff AP_NavEKF2: handle external nav position resets 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
Randy Mackay
4d7e7a960a AP_NavEKF2: more white space 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
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
Paul Riseborough
0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00