4087d7b792
AP_NavEKF2: add configuredToUseGPSForPosXY
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
8591b31665
AP_NavEKF2: cleanup unused code
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
c90265f94d
AP_NavEKF2: fix includes
4 years ago
b2d4622320
AP_NavEKF2: replace prearm_healthy with pre_arm_check
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
081c0bbfe0
AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods
5 years ago
502b96f49c
AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor
5 years ago
dee095b4a4
AP_NavEKF2: support VISION_SPEED_ESTIMATE
5 years ago
f26a2a47b4
AP_NavEKF2: writeExtNavData accepts delay
5 years ago
c9ffe8dcea
AP_NavEKF2: use set_enable() to set enable flag
5 years ago
90db3d6317
AP_NavEKF2: minor comment fix
5 years ago
990313371d
AP_NavEKF2: minor comment fixes
5 years ago
3b20623a31
AP_NavEKF2: remove unused ext nav elements
5 years ago
4d7e7a960a
AP_NavEKF2: more white space fixes
5 years ago
0fb233ed4b
AP_NavEKF2: minor comment fixes
5 years ago
a9cbd5aa29
AP_NavEKF2: getDataEKFGSF and getYawData pass by reference
5 years ago
de0040ad69
AP_NavEKF2: Enable use of EKF-GSF yaw estimate
...
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.
AP_NavEKF2: Add missing accesor functions for default airspeed
5 years ago
8749f30c64
AP_NavEKF2: external nav pos offsets from AP_VisualOdom library
5 years ago
da3d3cc21b
AP_NavEKF: stop taking ahrs in constructor
5 years ago
524647d221
AP_NavEKF2: use instance number when logging rather than multiple message IDs
5 years ago
060c851709
AP_NavEKF2: make send_status_report const
5 years ago
369292f7f3
AP_NavEKF2: stop relying on the presence of a RangeFinder
5 years ago
5f6b3a1f5b
AP_NavEKF2: clean up init failure handling
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only attempt to allocate memory once
5 years ago
23ee9eef5f
AP_NavEKF2: fail prearm on any core setup failure
5 years ago
489ae83604
AP_NavEKF2: handle core setup failures
5 years ago
7c6630e216
AP_NavEKF2: EKF2 prefix for prearm failures and camelCase
5 years ago
95ea6ad807
AP_NavEKF2: provide reasons for init failures
5 years ago
c26c6fd078
AP_NavEKF2: Add missing vertical position derivative calculation
...
Use a third order order complementary filter to estimate the rate of change of vertical position output.
5 years ago
f7e138bddd
AP_NavEKF2: use parent class for intermediate static variables
...
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
5 years ago
0041874826
AP_NavEKF2: moved intermediate variables to common memory
...
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717 , but avoids creating large stack
frames
5 years ago
a4d10b2e86
AP_NavEKF2: Allow the GPS to be responsible for logging
6 years ago
fc9ff2b09a
AP_NavEKF2: add method to check if ext nav is used for yaw
6 years ago
c57b25b4c9
AP_NavEKF2: ensure that EKF origin stays in sync on all cores
...
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
6 years ago
6a0a466f42
AP_NavEKF2: factor out and logging functions, reuse for 2nd core
6 years ago
5175d23cc1
AP_NavEKF2: move logging in from AP_Logger
6 years ago
f04e47fc17
AP_NavEKF2: Reduce scope of AP_Baro.h
6 years ago
3073c4da7a
AP_NavEKF2: added checkLaneSwitch()
...
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
6 years ago
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
...
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
6 years ago
7f639c1bb2
AP_NavEKF2: Allow checking all cores for failure
6 years ago
8038efc152
AP_NavEKF2: Flow use parameter updates
6 years ago
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
...
Updated derivation using sequential fusion of Y and X axis data.
6 years ago
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
6 years ago
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
3766ee1b60
AP_NavEKF2: add external navigation data lag
6 years ago
Randy Mackay
Paul Riseborough
Andrew Tridgell
Peter Barker
chobits
Paul Riseborough
Mark Whitehorn
Michael du Breuil
hoangthien94
Arjun Vinod