9dcff1a23f
AP_NavEKF3: set rejecting_airspeed flag
...
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
3 years ago
e16a64383f
AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration
3 years ago
a33febd90a
AP_NavEKF3: fixed gaps in EKF logging
...
timestamps should not be static as otherwise some lanes will not be
logged
3 years ago
282209e3e6
AP_NavEKF3: add accessor for GSF yaw estimator
3 years ago
bc0101e446
AP_NavEKF3: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
3 years ago
c828bdfbc9
AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU
3 years ago
c0d88e2673
AP_NavEKF3: Fix vertical velocity reset
...
Fixes bug that prevents the vertical velocity being reset to the GPS if the position aiding has already timed out and improves sensitivity of the bad IMU data check.
3 years ago
63e579d738
AP_NavEKF3: add using_extnav_for_yaw
4 years ago
0edfd2634f
AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw
4 years ago
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
5779ebd177
AP_NavEKF3: remove unused Tbn_flow
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
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
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
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
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
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
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
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
4 years ago
de3c6d6e5c
AP_NavEKF3: Fade each vert vel variance clip count over 1 second
4 years ago
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
4 years ago
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
4 years ago
dd3ab29b2f
AP_NavEKF3: remove getFilterGpsStatus
...
Not needed after we moved logging into NavEKF3
4 years ago
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
4 years ago
15658362b5
AP_NavEKF3: make time-horizon OF data a local variable
...
Saves 40 bytes of RAM per core on stm32
4 years ago
b9abef37c3
AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.
4 years ago
1018801522
AP_NavEKF3: White space and comment fixes
4 years ago
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
4 years ago
4605870788
AP_NavEKF3: remove separate calls to get delta-times for vel and ang
4 years ago
246b80dc06
AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary
4 years ago
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
4 years ago
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
...
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
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
4 years ago
1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
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
099d6aa72e
AP_NavEKF3: add filter reset when vehicle is idle for too long
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
6850b48ea1
AP_NavEKF3: add comments for yaw sensor variables
4 years ago
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
4 years ago
Andrew Tridgell
Randy Mackay
Andy Piper
Paul Riseborough
Paul Riseborough
Peter Barker
Josh Henderson
murata