97cb2dd1c0
AP_NavEKF3: fixed gaps in EKF logging
...
timestamps should not be static as otherwise some lanes will not be
logged
3 years ago
a1ede5d2a3
AP_NavEKF3: Add missing covariance row reset
3 years ago
fd6c9d476d
AP_NavEKF3: fixed switch to non-zero primary on disarm
...
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
3 years ago
f3dd4cafcb
AP_NavEKF3: added EK3_PRIMARY parameter
...
allows for selection of which IMU to use on startup
3 years ago
39c23e11aa
AP_NavEKF3: fix wind speed covariance initialisation bug
3 years ago
a3c658ea01
AP_NavEKF3: remove unused EK3_GSF_DELAY param
4 years ago
3c5bd942a6
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
4 years ago
c00fa705b7
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
4 years ago
b2c24a0b58
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
...
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
4 years ago
762529a987
AP_NavEKF3: retune wind process noise for better airspeed fault detection
4 years ago
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
...
Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
4 years ago
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
4 years ago
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
4 years ago
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
4 years ago
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
82ed96a927
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
4 years ago
3714c1b2e2
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
a24df9d633
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
4 years ago
5a3e0e7f17
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
827d871c85
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
aa13e86ac9
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
cb6371e952
AP_NavEKF3: Update covariance prediction equations
4 years ago
4f8f187b81
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
4 years ago
e139bfa1b8
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
4 years ago
c4dbbfcc07
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
aadf179286
AP_NavEKF3: process GPS yaw independently of GPS fix
...
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
93e1bd0160
AP_NavEKF3: fixed indentation in readGpsData()
4 years ago
9acb16acca
AP_NavEKF3: implement moving origin
...
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
3df7c1a7c7
AP_NavEKF3: moved checkUpdateEarthField to be called less often
4 years ago
5543706626
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
4 years ago
87b4ca47e8
AP_NavEKF3: convert code_gen.py to ftype
4 years ago
7bb971f07d
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
4 years ago
395d2f1f7e
AP_NavEKF3: convert EKF3 derivation to ftype
4 years ago
4f0f4608b9
AP_NavEKF3: allow for double EKF build
4 years ago
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
4 years ago
9d85a4292e
AP_NavEKF3: Ensure postion timeout flag and timer is always reset
4 years ago
de3c6d6e5c
AP_NavEKF3: Fade each vert vel variance clip count over 1 second
4 years ago
ac92182153
AP_NavEKF3: Clean up initialisation of boolean array
4 years ago
b0763f04f1
AP_NavEKF3: Remove unwanted line
4 years ago
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
4 years ago
36160ba9ce
AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata
4 years ago
5d00b7d042
AP_NavEKF3: Fix bug preventing height reset if badIMUdata
4 years ago
e4eb8339d0
AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata
4 years ago
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
4 years ago
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
4 years ago
Andrew Tridgell
Paul Riseborough
Randy Mackay
Paul Riseborough
Peter Barker
Josh Henderson