ardupilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	f2af2b3458	AP_NavEKF3: Initialise tiltErrorVariance class variable	4 years ago
Paul Riseborough	43386a8eea	AP_NAvEKF3: Use a const reference	4 years ago
Paul Riseborough	64a3d8fe4e	AP_NavEKF3: Update documentation	4 years ago
Paul Riseborough	6c7820dd8d	AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL	4 years ago
Paul Riseborough	90e928c32a	AP_NavEKF3: Re-tune tilt alignment check New tilt error variance estimate is more accurate and larger than before.	4 years ago
Paul Riseborough	16ae75a681	AP_NavEKF3: Consolidate and log tilt error variance calculation	4 years ago
Paul Riseborough	8a88dd23a2	AP_NavEKF3: Add missing generated code file for yaw fusion	4 years ago
Paul Riseborough	69632336e1	AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw Uses sympy derivation	4 years ago
Paul Riseborough	4e41e9f5f1	AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions	4 years ago
Paul Riseborough	fa10d114e4	AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch Use existing covariance prediction code to set quaternion state covariances. Assumes tilt error is 3 deg 1-sigma.	4 years ago
Paul Riseborough	73d5ca5ad3	AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch Use existing covariance prediction code to set quaternion state covariances. Assumes tilt error is 3 deg 1-sigma. TODO derive and add function that calculates tilt error variance.	4 years ago
Paul Riseborough	a97d030e4b	AP_NavEKF3: Reset earth field variances when starting mag field estimation	4 years ago
Paul Riseborough	9168d0cd19	AP_NavEKF3: Initialise mag field variances to non zero values	4 years ago
Paul Riseborough	0b96f046c2	AP_NavEKF3: Unblock initial yaw alignment message	4 years ago
Paul Riseborough	f81abd73d6	AP_NavEKF3: Update covariance prediction to yse SymPy generated equations Saves flash and variable space.	4 years ago
Andrew Tridgell	a4716fb9bf	AP_NavEKF3: fixed multi-core yaw reset thanks to Alex Burka for finding this	4 years ago
Andrew Tridgell	fcccdcc936	AP_NavEKF3: fixed bug in external yaw for fixed wing when we are on the ground we should not chang to AID_NONE if we have an external yaw source this fixes an EKF3 error loop on the ground found by Michael	4 years ago
Randy Mackay	c3fd82b6d7	AP_NavEKF3: minor spelling fix	4 years ago
Randy Mackay	2f1ae29a9c	AP_NavEKF3: extnav data gets corrected boolean CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use corrected boolean to avoid correcting twice	4 years ago
Randy Mackay	a16de76f57	AP_NavEKF3: correct extnav position as it is recalled from the buffer This makes extnav position correction consistent with the velocity correction	4 years ago
Randy Mackay	71487e9c10	AP_NavEKF3: gps_elements gets corrected flag CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once	4 years ago
Randy Mackay	3d4e1cd5c5	AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel	4 years ago
Randy Mackay	e25579cc00	AP_NavEKF3: correct GPS for position as it is recalled from buffer	4 years ago
Peter Barker	0496ecc4f6	AP_NavEKF2: remove unused state variables	4 years ago
Peter Barker	a1e7c91f8e	AP_NaveEKF3: reduce code duplication in setup_core Less code. Saves 40 bytes on PixRacer	4 years ago
Randy Mackay	e4056086e0	AP_NavEKF3: minor format and spelling fixes	4 years ago
Randy Mackay	231a958e51	AP_NavEKF3: minor comment fix	4 years ago
Randy Mackay	e4ccd21dd7	AP_NavEKF3: consolidate extNav height source timeouts	4 years ago
Randy Mackay	6989a28bfc	AP_NavEKF3: allow alt from other sources when using ExtNav also allows using ExtNav alt when not using it for XY position removes redundant and incorrect setting of activeHgtSource from ExtNav which was always being overwritten by the correct value later in selectHeightForFusion	4 years ago
Randy Mackay	0cebde0632	AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set this non-functional change slightly reduces the number of places we set these variables	4 years ago
Peter Barker	ef505df78a	AP_NavEKF3: remove unused quat2Tbn method	4 years ago
Peter Barker	0eafe4b662	AP_NavEKF3: remove dangling method declarations	4 years ago
Peter Barker	83d784c22d	AP_NavEKF3: fix includes	4 years ago
Peter Barker	3dc67f09fd	AP_NavEKF3: remove unused innovationIncrement and lastInnovation	4 years ago
Randy Mackay	eeb1a1846c	AP_NavEKF3: replace prearm_healthy with pre_arm_check	4 years ago
Randy Mackay	f5a04fd1a3	AP_NavEKF3: shorten buffer size send_text message length	4 years ago
Randy Mackay	7398529f6b	AP_NavEKF3: minor format fix	4 years ago
Andrew Tridgell	8a4b0f858a	AP_NavEKF3: reset body mag variances at key points we need to reset the body mag variances if we change sensors or if we are starting 3D fusion. When not doing 3D fusion we zero the variances, so they must be initialised again when we restart fusion. This fixes a bug in handling the variances on a 2nd flight	4 years ago
Andrew Tridgell	e9185f526b	AP_NavEKF3: add comments on state indexes make it easier to check indexes	4 years ago
Andrew Tridgell	1f21d72c79	AP_NavEKF3: fixed init of earth state mag variances we were starting with zero variance for X and Y earth states, it should start with sq(magNoise)	4 years ago
Andrew Tridgell	2bc7d17e7a	AP_NavEKF3: improved core comparison to check alignment 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
Andrew Tridgell	c03c43e52c	AP_NavEKF3: use same mag switch pattern as EKF2 based on Pauls suggested change	4 years ago
Andrew Tridgell	3836b59041	AP_NavEKF3: fixed handling of failed compass when a compass goes unhealthy due to sensor failure we should try another compass after 10s if another compass is available	4 years ago
Andrew Tridgell	458ade86f5	AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask	5 years ago
Harshit Kumar Sankhla	edc3709653	AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 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
Harshit Kumar Sankhla	d7edc946b6	AP_NavEKF3: Relative Error based Lane-Switching 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
Randy Mackay	46a7e96c48	AP_NavEKF3: readRngBcnData avoids array overflow from beacon count	5 years ago
Randy Mackay	b314195f6e	AP_NavEKF3: minor spelling fix	5 years ago
Randy Mackay	b86e16e927	AP_NavEKF3: readRngBcnData gets minor formatting fix	5 years ago
Randy Mackay	384029d278	AP_NavEKF3: rngBcnDataNew made local	5 years ago

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384 Commits (e6ba53856a32edbe76b588b7735290823e02cbe7)