aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
58,321 Commits 72 Branches 509 Tags 683 MiB
4d03327470
Commit Graph

182 Commits

Author SHA1 Message Date
Paul Riseborough
c91909032f AP_NavEKF3: Increase delta velocity bias state process noise 
Required due to state variance collapse on ground with some systems using RTK GPS.
 2023-05-24 10:31:26 +10:00
Paul Riseborough
1053daaf90 AP_NavEKF3: Strengthen recovery from bad delta velocity bias learning 2023-05-24 10:31:26 +10:00
Paul Riseborough
ef76890f9b AP_NavEKF3: Retune and fix delta velocity bias state variance protection 2023-05-24 10:31:26 +10:00
Peter Barker
ce8afaf57b AP_NavEKF3: use quat.to_euler(Vector3f&) 2023-04-19 14:24:45 +10:00
Peter Barker
5d68f44694 AP_NavEKF3: move beacon variables into structure 
AP_NavEKF3: change beacon variable names
 2023-04-18 09:28:02 +10:00
Paul Riseborough
5ab17496f6 AP_NavEKF3: Improve protection against GPS glitches during yaw alignment 2023-04-17 08:48:03 +10:00
Paul Riseborough
a25aa8d2ac AP_NavEKF3: Lock in wind state estimates when using srag to dead reckon 2023-04-04 09:22:23 +10:00
Peter Barker
da95985dd7 AP_NavEKF3: remove mag_state state 
we don't need to persist this across multiple calls as we now fuse all axes on the one step.

I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
 2023-01-25 19:58:54 +11:00
Peter Barker
5cb6906968 AP_NavEKF3: add and use AP_BEACON_ENABLED 2022-11-16 08:16:31 +11:00
Paul Riseborough
481bec5ff5 AP_NavEKF3: Allow wind states to recover faster when airspeed sensor failed 2022-09-26 14:17:53 +10:00
Peter Barker
0665f9c32b AP_NavEKF3: store and use lastKnownPositionD 
When returning our last-known-position we were supplying lat/lng but not
altitude.

This usually really doesn't matter as this result generally isn't used,
especially for altitude.  OTOH, it may prevent a bug into the future.
 2022-08-22 19:48:03 +10:00
Tamas Nepusz
8959d35b91 AP_NavEKF3: add EK3_GPS_VACC_MAX as a threshold that decides whether to use GPS as altitude source depending on vAcc 2022-08-03 17:57:05 +10:00
Randy Mackay
e37bf9ad53 AP_NavEKF3: drag fusion for att and velAiding 
also add dragTimeout
 2022-05-25 20:05:21 +09:00
Andrew Tridgell
a4da65ea05 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-01 17:06:44 +09:00
Hwurzburg
970e5f829b AP_NavEKF3: remove user unintelligible GCS message 2022-01-12 08:11:18 +11:00
Andrew Tridgell
a33febd90a AP_NavEKF3: 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
Paul Riseborough
5178f4a7d0 AP_NavEKF3: Add missing covariance row reset 2021-12-20 09:28:37 +11:00
Josh Henderson
67eb6d17eb AP_NavEKF3: initialize stateStruct.quat to unit length 2021-09-28 19:09:16 +10:00
Paul Riseborough
c828bdfbc9 AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU 2021-09-23 18:55:28 +10:00
Paul Riseborough
c0d88e2673 AP_NavEKF3: Fix vertical velocity reset 
Fixes bug that prevents the vertical velocity being reset to the GPS if the position aiding has already timed out and improves sensitivity of the bad IMU data check.
 2021-09-23 18:55:28 +10:00
Peter Barker
b66fd214f0 AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
Josh Henderson
3006d50f97 AP_NavEKF3: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Paul Riseborough
59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
7497590363 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-22 18:20:45 +10:00
Paul Riseborough
e3bdbcd8ea AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 18:20:45 +10:00
Paul Riseborough
62d70a628e AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 18:20:45 +10:00
Paul Riseborough
72dc998509 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 18:20:45 +10:00
Paul Riseborough
ce4d13091a AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 18:20:45 +10:00
Paul Riseborough
6242ce19fa AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 18:20:45 +10:00
Paul Riseborough
bb9eed28a9 AP_NavEKF3: Update covariance prediction equations 2021-07-22 18:20:45 +10:00
Andrew Tridgell
fc2118f42b AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-21 17:59:49 +10:00
Andrew Tridgell
6b73c2151a AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-14 17:34:40 +10:00
Andrew Tridgell
44f098c86d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-12 17:27:08 +10:00
Andrew Tridgell
5319e3910f AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-10 07:20:41 +10:00
Andrew Tridgell
a8c6d742aa AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-10 07:20:41 +10:00
Andrew Tridgell
885e518741 AP_NavEKF3: allow for double EKF build 2021-07-10 07:20:41 +10:00
Paul Riseborough
1281033931 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-06-23 13:26:02 +09:00
Paul Riseborough
de3c6d6e5c AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-06-23 13:26:02 +09:00
Paul Riseborough
b7aad13cc8 AP_NavEKF3: Protect against collapse of velocity and position variances 2021-06-23 13:26:02 +09:00
Siddharth Purohit
cd5b764fd8 AP_NavEKF3: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Peter Barker
c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Randy Mackay
02f6ca51bc AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero 2021-05-28 08:08:08 +09:00
Paul Riseborough
1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough
7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough
ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough
a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough
4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
Paul Riseborough
85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Andrew Tridgell
ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00