5e6447e893
AP_NavEKF2: update and correct GSF parameter documentation
3 years ago
d5f5a3024a
AP_NavEKF2: use vector.xy().length() instead of norm(x,y)
4 years ago
6aca0bb08a
AP_NavEKF2: allow for double EKF build
4 years ago
124eaf1a38
AP_NavEKF2: use first usable compass index to set magSelectIndex
4 years ago
a5b6ce9220
AP_NavEKF2: Change misnomer (NFC)
4 years ago
af639f7812
AP_NavEKF2: Change misnomer (NFC)
4 years ago
addd57dcab
AP_NavEKF2: move badMagYaw onto stack
4 years ago
248ef92ed7
AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw
...
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
da7bb44a61
AP_NavEKF2: Consolidate magnetometer timeout checks
5 years ago
032b7c81e5
AP_NavEKF2: correct includes
5 years ago
e64c92b322
AP_NavEKF2: use err info from ext nav interface
5 years ago
19dc07250d
AP_NavEKF2: clarify yaw reset error message
...
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
5 years ago
af19fea268
AP_NavEKF2: Fix 3-axis mag fusion per axis error handling
...
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
5 years ago
990313371d
AP_NavEKF2: minor comment fixes
5 years ago
0fb233ed4b
AP_NavEKF2: minor comment fixes
5 years ago
a9cbd5aa29
AP_NavEKF2: getDataEKFGSF and getYawData pass by reference
5 years ago
6c3889b04f
AP_NavEKF2: fixed typos
5 years ago
0d965d2a1c
AP_NavEKF2: Fix timer wrapping bugs
...
Also replaces tab characters
5 years ago
de0040ad69
AP_NavEKF2: Enable use of EKF-GSF yaw estimate
...
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.
AP_NavEKF2: Add missing accesor functions for default airspeed
5 years ago
f7e138bddd
AP_NavEKF2: use parent class for intermediate static variables
...
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
5 years ago
d40d812ea4
AP_NavEKF2: fixed build with g++ 9.1
...
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
6 years ago
255981c60c
AP_NavEKF2: moved some of the intermediate vars to the stack
...
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
6 years ago
e9ed3540f1
AP_NavEKF2: constrain field by table after fusion
...
this should make for faster convergence
6 years ago
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
...
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
6 years ago
78b165e36f
AP_NavEKF2: fixed typos
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
7 years ago
5da3759ff4
AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
7e7f78d4b5
AP_NavEKF2: final mag reset at 2.5m
8 years ago
1985dcd366
AP_NavEKF2: Fix bug in declination fusion
8 years ago
ce37517268
AP_NavEKF2: Improve comments, typos
8 years ago
596b20eb07
AP_NavEKF2: close perf counter when doing early return
8 years ago
88469ce80c
AP_NavEKF2: Reset covariance if bad mag fusion update
8 years ago
a63eac8073
AP_NavEKF2: Add missing perf_end
8 years ago
d408d25f92
More spelling stuff
8 years ago
ef03a85cd3
AP_NavEKF2: add range beacon interface and fusion method
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
d1ecc63bf1
AP_NavEKF2: change priority of statustext messages
9 years ago
567d5cdbe6
AP_NavEKF2: use mavlink messages not printf for state change notifications
9 years ago
e34cdc6666
AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers
...
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
9 years ago
8793c75da0
AP_NavEKF2: clean up mag field learned logic
9 years ago
10470b2dc1
AP_NavEKF2: fix bug in initialisation of declination co-variances
...
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
9 years ago
6b04a81b8d
AP_NavEKF2: Fix plane in-flight yaw reset bug
...
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.
1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
9 years ago
51dbed2338
AP_NavEKF2: remember mag field states between flight on same power cycle
...
Remember the mag bias and earth field states learned during flight when the vehicle lands.
This improves performance for vehicles that do multiple flight on one power cycle
9 years ago
136df7cb5c
AP_NavEKF2: reduce declination errors on start of 3-axis fusion
...
Reset co-variances for NE field states.
9 years ago
191c34612d
AP_NavEKF2: Fix bug in use of corrected IMU data
...
IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
9 years ago
4a8689aa97
AP_NavEKF2: remove duplicate if statements from mag fusion
9 years ago
1400dc9d02
AP_NavEKF2: Add tuning parameters for magentic yaw fusion
...
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
9 years ago
Henry Wurzburg
Josh Henderson
Andrew Tridgell
Siddharth Purohit
murata
Peter Barker
Paul Riseborough
chobits
Randy Mackay
Paul Riseborough
Arjun Vinod
Tom Pittenger
Paul Riseborough
Dr.-Ing. Amilcar Do Carmo Lucas
Mathieu OTHACEHE
Jonathan Challinger