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44,581 Commits 72 Branches 509 Tags 683 MiB
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120 Commits

Author SHA1 Message Date
Andrew Tridgell
096aab9388 AP_NavEKF3: 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
Paul Riseborough
6c7820dd8d AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL 2020-10-26 11:03:50 +11:00
Paul Riseborough
16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Paul Riseborough
4e41e9f5f1 AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order 
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
 2020-10-26 11:03:50 +11:00
Paul Riseborough
73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
a97d030e4b AP_NavEKF3: Reset earth field variances when starting mag field estimation 2020-10-26 11:03:50 +11:00
Randy Mackay
c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay
2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
ef505df78a AP_NavEKF3: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
0eafe4b662 AP_NavEKF3: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
3dc67f09fd AP_NavEKF3: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Andrew Tridgell
8a4b0f858a AP_NavEKF3: reset body mag variances at key points 
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
e9185f526b AP_NavEKF3: add comments on state indexes 
make it easier to check indexes
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
2bc7d17e7a AP_NavEKF3: improved core comparison to check alignment 
this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching

this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
 2020-09-14 20:29:04 +10:00
Andrew Tridgell
3836b59041 AP_NavEKF3: 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
Harshit Kumar Sankhla
edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
 2020-08-27 20:20:51 +10:00
Randy Mackay
384029d278 AP_NavEKF3: rngBcnDataNew made local 2020-08-25 09:38:10 +09:00
Randy Mackay
8c877f02af AP_NavEKF3: shrink beacon arrays and add assert 2020-08-25 09:38:10 +09:00
Randy Mackay
4c40d2ac3f AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps 2020-08-21 13:18:58 +09:00
Randy Mackay
056a2de260 AP_NavEKF3: wheelOdmDataNew member made local 
this variable is never used outside the writeWheelOdom method
 2020-08-21 13:18:58 +09:00
Randy Mackay
3d5161f364 AP_NavEKF3: remove unused usingWheelSensors variable 
This variable was set but never consumed
 2020-08-21 13:18:58 +09:00
Randy Mackay
c4b7a1c41a AP_NavEKF3: flowDataToFuse moved to local variable 
This variable is never used outside the SelectFlowFusion() method
This variable is always updated at the top of the function meaning subsequent calls to the function will always overwrite its previous value
 2020-08-21 13:12:10 +09:00
chobits
c722367c6c AP_NavEKF3: move extNavVelNew to local variable 2020-08-12 15:40:38 +09:00
chobits
7ad9e3548f AP_NavEKF3: make reset source variable local 2020-08-10 09:43:28 +09:00
Peter Barker
6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
Paul Riseborough
c8bbbd2720 AP_NavEKF3: Fix bug preventing setting of mag field states 2020-07-25 20:46:04 +10:00
Paul Riseborough
9a4108f55e AP_NavEKF3: Simplify setting EK3_MAG_CAL 
Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
 2020-07-07 15:33:58 +10:00
Paul Riseborough
21ea5d5039 AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor 2020-07-07 15:33:58 +10:00
Paul Riseborough
354b551ef0 AP_NavEKF3: Handle repeated FW flight without magnetometer 
The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
8ff6780323 AP_NavEKF3: Clarify distinct use cases for 'takeoff expected' 2020-07-07 15:33:58 +10:00
Paul Riseborough
d8c2096ad8 AP_NavEKF3: improve angle accuracy during no mag launch 2020-07-07 15:33:58 +10:00
Randy Mackay
ec5f84c926 AP_NavEKF3: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Randy Mackay
dccc3e22d9 AP_NavEKF3: minor comment fix re RNG_USE_HGT 2020-06-24 21:16:50 +09:00
Paul Riseborough
ed5b695c94 AP_NavEKF3: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Pierre Kancir
431468452c AP_NavEKF3: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay
d37eec5fd8 AP_NavEKF3: ext nav vel corrected for sensor position when recalled from buffer 2020-06-02 08:33:42 +09:00
chobits
c7817eaca1 AP_NavEKF3: support VISION_SPEED_ESTIMATE 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2020-06-02 08:33:42 +09:00
Paul Riseborough
939331ae8d AP_NavEKF3: Fix double iteration of axes in SelectMagFusion 2020-05-18 09:38:45 +10:00
Randy Mackay
5ad3611142 AP_NavEKF3: improve ext nav glitch handling 
replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
 2020-05-15 11:23:07 +09:00
Randy Mackay
ef02942459 AP_NavEKF3: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
c28fd27b02 AP_NavEKF3: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Andrew Tridgell
5350ea5c58 AP_NavEKF3: avoid build warnings with g++ 9 2020-05-10 15:11:22 +10:00
Randy Mackay
f79d5d2d2c AP_NavEKF3: handle external nav position reset 2020-04-30 15:55:59 +09:00
Randy Mackay
d763597065 AP_NavEKF3: compensate for visual odometry sensor position 2020-04-30 15:55:59 +09:00
priseborough
c5e465aec9 AP_NavEKF3: add external nav system support 
includes decoupling height source from use of external nav data
 2020-04-30 15:55:59 +09:00
Andrew Tridgell
080f555b16 AP_NavEKF3: remove unused isDeltaYaw param from resetQuatStateYawOnly 2020-04-24 09:43:23 +10:00
Andrew Tridgell
197d31e9cc AP_NavEKF3: fixed in-flight yaw reset 2020-04-24 09:43:23 +10:00
Randy Mackay
86d221708c AP_NavEKF3: more white space fixes 2020-04-24 09:43:23 +10:00