d5293b2030
AP_NavEKF3: fixed constrain indexing bug
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fixes #20180
thanks to @liyue75 for spotting this!
3 years ago
970e5f829b
AP_NavEKF3: remove user unintelligible GCS message
3 years ago
a33febd90a
AP_NavEKF3: fixed gaps in EKF logging
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timestamps should not be static as otherwise some lanes will not be
logged
3 years ago
5178f4a7d0
AP_NavEKF3: Add missing covariance row reset
3 years ago
67eb6d17eb
AP_NavEKF3: initialize stateStruct.quat to unit length
3 years ago
c828bdfbc9
AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU
3 years ago
c0d88e2673
AP_NavEKF3: Fix vertical velocity reset
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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.
3 years ago
b66fd214f0
AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED
3 years ago
3006d50f97
AP_NavEKF3: use vector.xy().length() instead of norm(x,y)
3 years ago
59d31cc7d5
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
7497590363
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
4 years ago
e3bdbcd8ea
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
72dc998509
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
ce4d13091a
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
6242ce19fa
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
bb9eed28a9
AP_NavEKF3: Update covariance prediction equations
4 years ago
fc2118f42b
AP_NavEKF3: process GPS yaw independently of GPS fix
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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
4 years ago
6b73c2151a
AP_NavEKF3: implement moving origin
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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.
4 years ago
44f098c86d
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
4 years ago
5319e3910f
AP_NavEKF3: moved checkUpdateEarthField to be called less often
4 years ago
a8c6d742aa
AP_NavEKF3: update earth field at 1Hz
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this prevents large mag errors on long distance flights
4 years ago
885e518741
AP_NavEKF3: allow for double EKF build
4 years ago
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
4 years ago
de3c6d6e5c
AP_NavEKF3: Fade each vert vel variance clip count over 1 second
4 years ago
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
4 years ago
cd5b764fd8
AP_NavEKF3: use first usable compass index to set magSelectIndex
4 years ago
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
4 years ago
02f6ca51bc
AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero
4 years ago
1018801522
AP_NavEKF3: White space and comment fixes
4 years ago
7113387d27
AP_NavEKF3: Use better defined data type
4 years ago
ac87cab6bc
AP_NavEKF3: constify array index variable
4 years ago
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
4 years ago
4b1c334bba
AP_NavEKF3: improve stability of co-variance matrix processing
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This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
4 years ago
85c0040fa3
AP_NavEKF3: Improve inFlight detection for fixed wing
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Better handle case where no airspeed sensor is being used with a hand launch.
4 years ago
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
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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
4 years ago
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
4 years ago
1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
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saves about 11k of flash
4 years ago
099d6aa72e
AP_NavEKF3: add filter reset when vehicle is idle for too long
4 years ago
59fa794818
AP_NavEKF3: constrain vertical error
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this prevents a floating point exception with external AHRS
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
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only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
4 years ago
bb32f1a397
AP_NavEKF3: avoid initialising unused ring buffers
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this assumes the nav sources are treated as reboot required
4 years ago
e972fb31b1
AP_NavEKF3: remove unused variables
4 years ago
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
4 years ago
2d25149e2e
AP_NavEKF3: move global state to be on the stack
4 years ago
Andrew Tridgell
Hwurzburg
Paul Riseborough
Josh Henderson
Peter Barker
Paul Riseborough
Siddharth Purohit
Randy Mackay
priseborough
Andy Piper