282209e3e6
AP_NavEKF3: add accessor for GSF yaw estimator
3 years ago
63e579d738
AP_NavEKF3: add using_extnav_for_yaw
3 years ago
0edfd2634f
AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw
3 years ago
5c86cc6828
AP_NavEKF3: added EK3_PRIMARY parameter
...
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
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
795f412264
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
d6348a0786
AP_NavEKF3: remove getBodyFrameOdomDebug
...
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
6a603019d5
AP_NavEKF3: Add accessor function for yaw alignment status
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
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
be4d10a95e
AP_NavEKF3: rework parameter handling
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and fixed indentation
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
adfc92523b
AP_NavEKF3: add configuredToUseGPSForPosXY
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
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
6c0bb6a198
AP_NavEKF3: add convert_params for source
4 years ago
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
4 years ago
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
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Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
4 years ago
f3c3778169
prevent duplicate EKF logging
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vehicle code sometimes tries to log the same data twice
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
7b898ee001
AP_NavEKF3: minor comment and format fixes
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
4 years ago
83d784c22d
AP_NavEKF3: fix includes
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
4b8be2e535
AP_NavEKF3: fix comments
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
0f212ca727
AP_NavEKF3: accept extnav at up to 50hz
5 years ago
Andrew Tridgell
Randy Mackay
Paul Riseborough
Peter Barker
Paul Riseborough
Harshit Kumar Sankhla
chobits