5c86cc6828
AP_NavEKF3: added EK3_PRIMARY parameter
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allows for selection of which IMU to use on startup
4 years ago
d961186e0c
AP_NavEKF3: remove unused EK3_GSF_DELAY param
4 years ago
17ead96250
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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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
aa6ac4a874
AP_NavEKF3: retune wind process noise for better airspeed fault detection
4 years ago
8fd1e98701
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
0088b0f3fe
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
4 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
ccc95d8726
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
5eb7751682
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
0f2661c31c
AP_NavEKF3: Retune IMU process noise
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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
171eed5d85
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
795f412264
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
885e518741
AP_NavEKF3: allow for double EKF build
4 years ago
4fde26aa01
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
4 years ago
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
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ekf3
4 years ago
d6348a0786
AP_NavEKF3: remove getBodyFrameOdomDebug
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Not used after we moved logging to be within AP_NavEKF3
4 years ago
dd3ab29b2f
AP_NavEKF3: remove getFilterGpsStatus
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Not needed after we moved logging into NavEKF3
4 years ago
124f016e5b
AP_NavEKF3: Use parameter to set baro ground effect dead-zone
4 years ago
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
4 years ago
53c4b163ce
AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity
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Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
4 years ago
c5b1c832ba
AP_NavEKF3: Change misnomer (NFC)
4 years ago
4675aea0bf
AP_NavEKF3: Update parameter description
4 years ago
6a603019d5
AP_NavEKF3: Add accessor function for yaw alignment status
4 years ago
912db3512e
AP_NavEKF3: Fix EKF selection bug
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
ae565aef1a
AP_NavEKF3: Change misnomer (NFC)
4 years ago
7370cd9f00
AP_NavEKF3: Fix typo and update parameter description
4 years ago
f6cb0819ef
AP_NavEKF3: pre_arm_check may skip position checks
4 years ago
3582b69e9c
AP_NavEKF3: remove getFilterTimeouts access methods
4 years ago
b3bacdd33c
AP_NavEKF3: remove internal-only getTiltError method
4 years ago
5ad0ac6727
AP_NavEKF3: remove unused getAccelNED method
4 years ago
4492e5024c
AP_NavEKF3: enable ekf3 by default
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
e747edbcf2
AP_NavEKF3: fixed init order for scheduler
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this can impact replay of EKF2
4 years ago
39be85cef4
AP_NavEKF3: integrate Source loss of init
4 years ago
f77ab30f7a
Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions"
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This reverts commit 4f4a2f446d
4 years ago
ed17d8e48f
AP_NavEKF3: Improve parameter display names
4 years ago
b86c014400
AP_NavEKF3: rename drag parameters to start with EK3_DRAG_
4 years ago
be4d10a95e
AP_NavEKF3: rework parameter handling
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and fixed indentation
4 years ago
0d2c235027
AP_NavEKF3: Fix #define typo
4 years ago
ab05e8ed4a
AP_NavEKF3: Update param descriptions
4 years ago
4f4a2f446d
AP_NavEKF3: Remove unsupported parameter unit descriptions
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
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
Andrew Tridgell
Randy Mackay
Paul Riseborough
Paul Riseborough
Peter Barker
Josh Henderson
murata
Dr.-Ing. Amilcar do Carmo Lucas