Magnetometer bias states will subject to larger errors early in flight before flight motion makes the offsets observable and the state variances reduce.
Adds a check on state variances.
Replaces the parameter check with a check of the actual filter fusion method being used.
Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
Many of our SPI and I2C sensors define the protocol of setting the most
significant bit of the register address in order to perform a read operation.
Thus, enable the use of a "read flag" that is ORed with the register's address.
Since this is an abstraction for general devices, it's a good idea to have zero
as the default value for that flag.
While at it, add documentation to read_registers().
../../libraries/AP_HAL_Linux/Perf.cpp: In member function ‘void Linux::Perf::_debug_counters()’:
../../libraries/AP_HAL_Linux/Perf.cpp:85:36: warning: format ‘%llu’ expects argument of type ‘long long unsigned int’, but argument 4 has type ‘uint64_t {aka long unsigned int}’ [-Wformat=]
c.name, c.count);
^
Andrew Tridgell
Paul Riseborough
Jonathan Challinger
Lucas De Marchi
Gustavo Jose de Sousa
Michael du Breuil
Tom Pittenger
Daniel Ricketts
Randy Mackay
Leonard Hall