c14d19be68
AP_NavEKF3: fixed gcc 9.3 build error
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gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
4 years ago
0bc77a3baf
AP_NavEKF3: fixed whitespace
4 years ago
6ee1b23d28
AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection
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as discussed with Paul
4 years ago
6fe05a9ab6
AP_NavEKF3: restore XKTV message
4 years ago
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
4 years ago
eaa8474563
AP_NavEKF3: cope with INS_MAX_INSTANCES below 3
4 years ago
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
4 years ago
21dfdc2192
AP_NavEKF3: use DAL for body frame odometry
4 years ago
a0de6c620f
AP_NavEKF3: use selected GPS for gps_yaw_deg()
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more than one GPS could provide yaw
4 years ago
f4c3d7286c
AP_NavEKF3: support replay with wheel odomotry
4 years ago
e87f98066f
AP_NavEKF3: support replay with external navigation data
4 years ago
7bbbbd314c
AP_NavEKF3: added optflow support for AP_DAL
4 years ago
31091d6307
AP_NavEKF3: use ekf_low_time_remaining for core scheduling
4 years ago
f3c3778169
prevent duplicate EKF logging
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vehicle code sometimes tries to log the same data twice
4 years ago
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
2681d3afe2
AP_NavEKF3: simplify alignYawAngle
4 years ago
fc49b55b85
AP_NavEKF3: make coreBetterScore const
4 years ago
b726630ef4
AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully
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vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
4 years ago
3b38aa6d7b
AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD
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Using these existing functions removes some code duplicate
non-functional change
4 years ago
7b898ee001
AP_NavEKF3: minor comment and format fixes
4 years ago
f2af2b3458
AP_NavEKF3: Initialise tiltErrorVariance class variable
4 years ago
43386a8eea
AP_NAvEKF3: Use a const reference
4 years ago
64a3d8fe4e
AP_NavEKF3: Update documentation
4 years ago
6c7820dd8d
AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL
4 years ago
90e928c32a
AP_NavEKF3: Re-tune tilt alignment check
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New tilt error variance estimate is more accurate and larger than before.
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
4 years ago
8a88dd23a2
AP_NavEKF3: Add missing generated code file for yaw fusion
4 years ago
69632336e1
AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw
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Uses sympy derivation
4 years ago
4e41e9f5f1
AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order
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Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
4 years ago
fa10d114e4
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
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Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
4 years ago
73d5ca5ad3
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
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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.
4 years ago
a97d030e4b
AP_NavEKF3: Reset earth field variances when starting mag field estimation
4 years ago
9168d0cd19
AP_NavEKF3: Initialise mag field variances to non zero values
4 years ago
0b96f046c2
AP_NavEKF3: Unblock initial yaw alignment message
4 years ago
f81abd73d6
AP_NavEKF3: Update covariance prediction to yse SymPy generated equations
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Saves flash and variable space.
4 years ago
a4716fb9bf
AP_NavEKF3: fixed multi-core yaw reset
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thanks to Alex Burka for finding this
4 years ago
fcccdcc936
AP_NavEKF3: fixed bug in external yaw for fixed wing
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when we are on the ground we should not chang to AID_NONE if we have
an external yaw source
this fixes an EKF3 error loop on the ground found by Michael
4 years ago
c3fd82b6d7
AP_NavEKF3: minor spelling fix
4 years ago
2f1ae29a9c
AP_NavEKF3: extnav data gets corrected boolean
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CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
4 years ago
a16de76f57
AP_NavEKF3: correct extnav position as it is recalled from the buffer
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This makes extnav position correction consistent with the velocity correction
4 years ago
71487e9c10
AP_NavEKF3: gps_elements gets corrected flag
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CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
4 years ago
3d4e1cd5c5
AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel
4 years ago
e25579cc00
AP_NavEKF3: correct GPS for position as it is recalled from buffer
4 years ago
0496ecc4f6
AP_NavEKF2: remove unused state variables
4 years ago
a1e7c91f8e
AP_NaveEKF3: reduce code duplication in setup_core
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Less code.
Saves 40 bytes on PixRacer
4 years ago
e4056086e0
AP_NavEKF3: minor format and spelling fixes
4 years ago
231a958e51
AP_NavEKF3: minor comment fix
4 years ago
e4ccd21dd7
AP_NavEKF3: consolidate extNav height source timeouts
4 years ago
6989a28bfc
AP_NavEKF3: allow alt from other sources when using ExtNav
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also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
4 years ago
Andrew Tridgell
Randy Mackay
Peter Barker
Paul Riseborough