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
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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
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
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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
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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
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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
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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
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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
ac92182153
AP_NavEKF3: Clean up initialisation of boolean array
4 years ago
b0763f04f1
AP_NavEKF3: Remove unwanted line
4 years ago
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
4 years ago
36160ba9ce
AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata
4 years ago
5d00b7d042
AP_NavEKF3: Fix bug preventing height reset if badIMUdata
4 years ago
e4eb8339d0
AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata
4 years ago
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
4 years ago
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
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
...
Not needed after we moved logging into NavEKF3
4 years ago
cd5b764fd8
AP_NavEKF3: use first usable compass index to set magSelectIndex
4 years ago
a5a25411da
AP_NavEKF3: Remove unnecessary baro limiting
4 years ago
124f016e5b
AP_NavEKF3: Use parameter to set baro ground effect dead-zone
4 years ago
76d0dcc25c
AP_NavEKF3: Use common method for handling baro ground effect
4 years ago
dc9435a88d
AP_NavEKF3: don't limit baro change when we are in fixed wing mode
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
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Saves 40 bytes of RAM per core on stm32
4 years ago
Paul Riseborough
Paul Riseborough
Peter Barker
Andrew Tridgell
Randy Mackay
Josh Henderson
Siddharth Purohit