80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
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these were unused
4 years ago
4cd1c3cfde
AP_NavEKF3: param conversion loses config_error
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config_error should only be run as part of setup because it may never return
4 years ago
adfc92523b
AP_NavEKF3: add configuredToUseGPSForPosXY
4 years ago
7eea13f86f
AP_NavEKF3: fixed build of standalone replay link test
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parameter conversion not needed for replay
4 years ago
e1a033b296
AP_NavEKF3: make logging a core concern
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Also dissolve some methods only used for logging
4 years ago
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
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EKF2 needs this for choosing alternate cores. EKF3 does not.
4 years ago
d1983b0b77
AP_NavEKF3: fixup source param conversion
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shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
4 years ago
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
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MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
4 years ago
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
4 years ago
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
73835f0c11
AP_NavEKF3: pre_arm_check includes sources
4 years ago
6c0bb6a198
AP_NavEKF3: add convert_params for source
4 years ago
849e94cc24
AP_NavEKF3: call sources align inactive sources
4 years ago
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
4 years ago
faed58a027
AP_NavEKF3: integrate Source for yaw
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
4 years ago
4c606a30bb
AP_NavEKF3: use common structure names
4 years ago
21dfdc2192
AP_NavEKF3: use DAL for body frame odometry
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
31091d6307
AP_NavEKF3: use ekf_low_time_remaining for core scheduling
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
fc49b55b85
AP_NavEKF3: make coreBetterScore const
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
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
eeb1a1846c
AP_NavEKF3: replace prearm_healthy with pre_arm_check
4 years ago
2bc7d17e7a
AP_NavEKF3: improved core comparison to check alignment
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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
4 years ago
edc3709653
AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter
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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
5 years ago
d7edc946b6
AP_NavEKF3: Relative Error based Lane-Switching
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Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
5 years ago
6b701ae3b3
AP_NavEKF3: correct includes
5 years ago
4b8be2e535
AP_NavEKF3: fix comments
5 years ago
e35458cedf
AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz()
5 years ago
9a4108f55e
AP_NavEKF3: Simplify setting EK3_MAG_CAL
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Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
5 years ago
0dc598a6e1
AP_NavEKF3: Fix param description and comment
5 years ago
8ff6780323
AP_NavEKF3: Clarify distinct use cases for 'takeoff expected'
5 years ago
2e55584417
AP_NavEKF3: correct comments on getFilterFaults and getFilterTimeouts methods
5 years ago
dccc3e22d9
AP_NavEKF3: minor comment fix re RNG_USE_HGT
5 years ago
ed5b695c94
AP_NavEKF3: Clarify intended use of setTerrainHgtStable accessor
5 years ago
906731222d
AP_NavEKF3: Fix range aid switching logic
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Clarifies use of EK3_RANGE_USE_HGT and EK3_ALT_SOURCE parameters to control range finder use.
Setting EK3_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK3_ALT_SOURCE parameter.
5 years ago
c7817eaca1
AP_NavEKF3: support VISION_SPEED_ESTIMATE
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Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
5 years ago
ef02942459
AP_NavEKF3: writeBodyFrameOdom accepts delay
5 years ago
c28fd27b02
AP_NavEKF3: writeExtNavData accepts delay
5 years ago
8b3f07416c
AP_NAVEKF3: change plane check_scaler value to match EKF2 value
5 years ago
d763597065
AP_NavEKF3: compensate for visual odometry sensor position
5 years ago
c5e465aec9
AP_NavEKF3: add external nav system support
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includes decoupling height source from use of external nav data
5 years ago
c1ef894a30
AP_NavEKF3: getDataEKFGSF and getYawData pass by reference
5 years ago
ed3d072318
AP_NavEKF3: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX
5 years ago
6ec69e6ed1
AP_NavEKF3: Update EK3_MAG_CAL parameter advice
5 years ago
Andrew Tridgell
Randy Mackay
Peter Barker
Paul Riseborough
Harshit Kumar Sankhla
chobits
Andy Piper
Paul Riseborough
Henry Wurzburg
priseborough