1e75bb971e
AP_NavEKF2: constrain vertical error
...
this prevents a floating point exception with external AHRS
4 years ago
b36bfe4206
AP_NavEKF2: fixed init order for scheduler
...
this can impact replay of EKF2
4 years ago
b372d62f35
AP_NavEKF2: Add accessor function for body frame airspeed vector
4 years ago
5e72907730
AP_NavEKF2: only fuse airspeed if healthy
4 years ago
f6d3983e1b
AP_NavEKF2: move EKF2 message ids into AP_NavEKF2
4 years ago
00ac8391c0
AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h
4 years ago
c5c810b724
AP_NavEKF2: use structures for logging GSF data
...
This makes it look like EKF2 and is marginally more efficient.
4 years ago
f94f51d9d3
AP_NavEKF2: move log message metadata to be above the structure
...
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
4 years ago
d600b87454
AP_NavEKF2: make logging a core concern
4 years ago
fc7e7dcee4
AP_NavEKF2: remove unused variables
4 years ago
addd57dcab
AP_NavEKF2: move badMagYaw onto stack
4 years ago
0aa10d8281
AP_NavEKF2: move tasHealth to be a stack variable
4 years ago
3a98d51427
AP_NavEKF2: move posvel fusion health booleans to be on the stack
4 years ago
400ba7a9df
AP_NavEKF2: move global state to be on the stack
4 years ago
7313e9eb0f
AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
79148498d3
AP_NavEKF2: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
4 years ago
4087d7b792
AP_NavEKF2: add configuredToUseGPSForPosXY
4 years ago
39ba8a8c83
AP_NavEKF2: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
3a4095fc7f
AP_NavEKF2: use common structure names
4 years ago
248ef92ed7
AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw
...
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
e5e8d0ba3c
AP_NavEKF2: Don't update yaw estimator with bad GPS
4 years ago
a2f4b16cdc
AP_NavEKF2: fixed logged core for GSF messages
4 years ago
01cd678244
AP_NavEKF2: fixed memory corruption on push before init
...
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption
found using the new memory guard system
4 years ago
7099bb6096
AP_NavEKF2: fixed gcc 9.3 build error
...
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
4 years ago
5b41d5541f
AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection
...
as discussed with Paul
4 years ago
7d7031d3d7
AP_NavEKF2: added const (review request)
4 years ago
16f7e51ea5
AP_NavEKF2: fixed use of pointers in ringbuffers
...
these don't work with AP_DAL
4 years ago
246a441883
AP_NavEKF2: cope with INS_MAX_INSTANCES below 3
4 years ago
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
...
saves a bit of flash space
4 years ago
8591b31665
AP_NavEKF2: cleanup unused code
4 years ago
bec095d661
AP_NavEKF2: support replay with external navigation data
4 years ago
224792b8b8
AP_NavEKF2: added optflow support for AP_DAL
4 years ago
90a8c5cb1a
AP_NavEKF2: use ekf_low_time_remaining for core scheduling
4 years ago
f3c3778169
prevent duplicate EKF logging
...
vehicle code sometimes tries to log the same data twice
4 years ago
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
84c92b717f
AP_NavEKF2: make coreBetterScore const
4 years ago
fccc1fcb72
AP_NavEKF2: minor comment fix
4 years ago
dc32f7a12f
AP_NavEKF2: fixed multi-core yaw reset
...
thanks to Alex Burka for finding this
4 years ago
0496ecc4f6
AP_NavEKF2: remove unused state variables
4 years ago
53305ba2a4
AP_NavEKF2: remove unused quat2Tbn method
4 years ago
312cf725aa
AP_NavEKF2: remove dangling method declarations
4 years ago
c90265f94d
AP_NavEKF2: fix includes
4 years ago
80f9ef7ed1
AP_NavEKF2: remove unused innovationIncrement and lastInnovation
4 years ago
b2d4622320
AP_NavEKF2: replace prearm_healthy with pre_arm_check
4 years ago
35e95d3328
AP_NavEKF2: reset body mag variances at key points
...
reset on sensor switch or when changing to 3D fusion
4 years ago
534e63e2fa
AP_NavEKF2: fixed init of earth state mag variances
...
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
4 years ago
d6dcbda0d3
AP_NavEKF2: removed duplicate compass switch check
...
left over from last set of changes
4 years ago
067001bd61
AP_NavEKF2: take into account alignment when comparing cores
...
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
4 years ago
da7bb44a61
AP_NavEKF2: Consolidate magnetometer timeout checks
4 years ago
6b9e595602
AP_NavEKF2: 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
4 years ago
Andrew Tridgell
Paul Riseborough
Peter Barker
Randy Mackay