8429c66860
AP_NavEKF3: Make subsequent bad IMU event detections faster
3 years ago
458c67639d
AP_NavEKF3: Force velocity state to follow GPS when IMU data is bad
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
17c2ba5ac1
AP_NavEKF3: Fix bug causing too frequent resets if bad IMU data detected
3 years ago
3006d50f97
AP_NavEKF3: use vector.xy().length() instead of norm(x,y)
3 years ago
5fa3ed5755
AP_NAvEKF3: use #define value for bad IMU hold time
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
ed61287410
AP_NavEKF3: Don't update accel bias states if vibration affected
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
885e518741
AP_NavEKF3: allow for double EKF build
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
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
ac87cab6bc
AP_NavEKF3: constify array index variable
4 years ago
1498b516a3
AP_NavEKF3: Don't try to learn gyro biases that are poorly observable
4 years ago
918606e71d
AP_NavEKF3: Don't use fake measurements to learn dvel bias
4 years ago
c709ad9c80
AP_NavEKF3: Add missing axis specific dvel bias update inhibit
4 years ago
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
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
26a3a02c81
AP_NavEKF3: use posxy_source in all places
4 years ago
e73d28fe19
AP_NavEKF3: remove redundant extnav code
4 years ago
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
4 years ago
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
4 years ago
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
603e0c090d
AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
4 years ago
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
4 years ago
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
4 years ago
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
4 years ago
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
4 years ago
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
4 years ago
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
...
these don't work with AP_DAL
4 years ago
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
...
saves a bit of flash space
4 years ago
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
Paul Riseborough
Paul Riseborough
Josh Henderson
Andrew Tridgell
Peter Barker
chobitsfan
Randy Mackay