d1f2acd813
AP_NavEKF3: rename varInnovOptFlow to flowVarInnov
...
also renamed innovOptFlow to flowInnov
4 years ago
85ade10e85
AP_NavEKF3: ofDataNew made local
4 years ago
11847cfcf5
AP_NavEKF3: always calculate optical flow innovations and variances
4 years ago
914a8dca49
AP_NavEKF3: for loops use uint8_t instead of unsigned
4 years ago
5779ebd177
AP_NavEKF3: remove unused Tbn_flow
4 years ago
f9fd63e01e
AP_NavEKF3: remove unused optflow calcs
4 years ago
d6a5622fcb
AP_NavEKF3: Remove @RebootRequired : False
4 years ago
5c86cc6828
AP_NavEKF3: added EK3_PRIMARY parameter
...
allows for selection of which IMU to use on startup
4 years ago
8216905f47
AP_NavEKF3: remove unecessary assignements
4 years ago
2a2cde68ef
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
4 years ago
ff59e0f72f
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
4 years ago
2f1444772b
AP_NavEKF3: XKF3.IYAW logs in degrees
4 years ago
d961186e0c
AP_NavEKF3: remove unused EK3_GSF_DELAY param
4 years ago
8681ecebfd
AP_NavEKF3: mark log messages as streaming
4 years ago
c34284b6eb
AP_NavEKF3: stop using AHRS as conduit for Compass pointer
4 years ago
17ead96250
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
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
...
Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
0088b0f3fe
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
59d31cc7d5
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
5fa3ed5755
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
7497590363
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
4 years ago
3e123c0a30
AP_NavEKF3: Use sensor variance when checking for bad IMU
4 years ago
e3bdbcd8ea
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
ccc95d8726
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
ed61287410
AP_NavEKF3: Don't update accel bias states if vibration affected
4 years ago
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
5eb7751682
AP_NavEKF3: Adjust gyro bias process noise tuning
...
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
72dc998509
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
0f2661c31c
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
171eed5d85
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
ce4d13091a
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
6242ce19fa
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
bb9eed28a9
AP_NavEKF3: Update covariance prediction equations
4 years ago
7b8e935880
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
4 years ago
795f412264
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
fc2118f42b
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
0b9cde5812
AP_NavEKF3: fixed indentation in readGpsData()
4 years ago
a4410a4b2e
AP_NavEKF3: log EKF data source set in XKFS
4 years ago
6b73c2151a
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
98fb4fcbe7
AP_NavEKF3: convert code_gen.py to ftype
4 years ago
44f098c86d
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
4 years ago
ae8dbe36bb
AP_NavEKF3: convert EKF3 derivation to ftype
4 years ago
5319e3910f
AP_NavEKF3: moved checkUpdateEarthField to be called less often
4 years ago
a8c6d742aa
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
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
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
Randy Mackay
TunaLobster
Andrew Tridgell
Pierre Kancir
Peter Barker
Paul Riseborough
Paul Riseborough