Now that we have a pre-arm check in place to detect bad lidar, the motion check is unnecessary and can false trigger for copters with flexible undercarriages or on uneven ground.
This method checks for consistency between accelerometer readings and switches to the unit with the lowest vibration of the difference exceeds 0.3g
The threshold of 1.7 m/s/s corresponds to a maximum tilt error of 10 deg assuming one IMU is good, one is bad and the EKF is using the bad IMU.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
If a badly conditioned covariance matrix causes negative innovation variances, then the filter will diverge. The previous approach of increasing process noise was not effective in some cases, so a hard reset of the covariance matrix has been adopted to guarantee recovery.
This fixes a numerical error observed using the replay on flight log which had significant periods of compass rejection.
This patch increases initial gyro bias uncertainty and plane and rover specific process noise to improve the rate of gyro bias learning.
This reduces the likelihood of a navigation failure due to rapid temperature changes in the inertial sensors causing rapid changes in zero rate offset.
The increase in process noise cannot be applied to Copter due to different numerical stability limits arising from the faster update rate.
This ensures that when we start using GPS, that the EKF will be using the correct declination for that location
If declination is not known it defaults to zero
This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination
This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.
This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold before motors are armed.
This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.
Paul Riseborough
Randy Mackay
Jonathan Challinger
Tom Pittenger
Staroselskii Georgii
Andrew Tridgell
Gustavo Jose de Sousa
Paul Riseborough