aepko/Ardupilot2
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15,910 Commits 72 Branches 509 Tags 683 MiB
6c4c54c2ba
Commit Graph

433 Commits

Author SHA1 Message Date
Paul Riseborough
6c4c54c2ba AP_NavEKF: Use default on ground range parameter from range finder object 2015-04-24 10:57:41 +09:00
Jonathan Challinger
10476333d8 AP_NavEKF: don't run when previously disarmed and time has slipped 2015-04-24 10:57:39 +09:00
Jonathan Challinger
085faaac6a AP_NavEKF: fix delay detection so that filter properly resets after a delay 2015-04-24 10:57:36 +09:00
Paul Riseborough
1c8e3f9444 AP_NavEKF: Allow EKF to pull data from range finder object 2015-04-24 10:57:01 +09:00
Paul Riseborough
4a5bf0a266 AP_NavEKF: Reduce EKF start time 
Makes EKF start conditional on DCM solution tilt error
 2015-04-23 20:35:48 +09:00
Andrew Tridgell
4586de6637 AP_NavEKF: enable optimisation in Linux build 
only really need debugging for SITL
 2015-04-16 08:36:16 +10:00
Paul Riseborough
dffa2e19bf AP_NavEKF: Make copter glitch accel consistent with timeout and radius 2015-04-15 17:32:48 +09:00
Paul Riseborough
5d70854c08 AP_NavEKF: Fix minor bug in calculation of innovation variance 
the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
 2015-04-15 17:32:46 +09:00
Paul Riseborough
1008c6390c AP_NavEKF: Fail absolute position status if GPS repeatedly rejected 2015-04-15 17:32:44 +09:00
Paul Riseborough
77d3798278 AP_NavEKF: Reduce recovery time after a GPS fusion timeout 2015-04-15 17:32:41 +09:00
Paul Riseborough
0852aeab6e AP_NavEKF: Allow raw innovations to be monitored during timeouts 2015-04-15 17:32:39 +09:00
Paul Riseborough
d3f4b4a02b AP_NavEKF: Fix name consistency for data check time stamps 2015-04-15 17:32:36 +09:00
Paul Riseborough
e79ccf1fcc AP_NavEKF: Fix bug allowing terrain to be above vehicle position 
The terrain state and vehicle state need to be compared at the same time horizon.
 2015-04-11 15:51:08 +09:00
Paul Riseborough
6d58c63c4c AP_NavEKF: Prevent potential divide by zeros in OF fusion 2015-04-11 15:51:03 +09:00
Paul Riseborough
89142f1c5f AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. 
the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
 2015-04-11 15:19:05 +09:00
Paul Riseborough
9268024094 AP_NavEKF: Update default parameters for copter optical flow fusion 2015-04-10 11:08:11 +09:00
Paul Riseborough
4fbdab27ff AP_NavEKF: Use range finder for primary hgt ref in opt flow mode 
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
 2015-04-10 11:08:07 +09:00
Paul Riseborough
d618c55e2f AP_NavEKF: Improved handling of noisy GPS speed accuracy data 2015-04-10 11:07:34 +09:00
Paul Riseborough
e98edaa6cb AP_NavEKF: Return more accurate validity status for height above ground 2015-04-10 11:07:24 +09:00
Paul Riseborough
c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
myly10
55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
Paul Riseborough
9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell
baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough
7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell
c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough
10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough
d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger
95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell
79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell
3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough
98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough
fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough
a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough
92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough
5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough
fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough
398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough
5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger
a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough
a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough
14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough
1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough
b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough
98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough
961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough
a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough
496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough
19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00