When Copter arms, the AHRS/EKF may not be run for a few hundred msec depending on conditions. This can cause the arming check to fail the optical flow sensor and place the EKF in a constant position mode.
This additional explicit setting of the constPosMode and constVelMode reduces the likelihood of logic errors being introduced in the future as it places the intended setting of these parameters at arming in the one place. the constVelmode and constPosMode only have one set of conditions each that can trigger these modes in flight, so if these modes are true after arming it will be clear that it was the in-flight condition that triggered.
This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.
It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed.
If we are relying on flow data the vehicle limits should always be applied.
When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.
When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.
Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).
This allows these flight modes to potentially operate even when the
vehicle has never had a GPS lock.
Potentially we should replace this with a check that the EKF's origin
has been set
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF. This also makes
copter consistent with plane.
I updated the message when you select AUTO mode but you haven't put
any waypoints in. It now says "No commands so can't set AUTO- setting
HOLD instead"
Matthias Badaire
priseborough
Randy Mackay
Dario Lindo Andres
Andrew Tridgell
Víctor Mayoral Vilches
Jonathan Challinger
Grant Morphett
mirkix