0665f9c32b
AP_NavEKF3: store and use lastKnownPositionD
...
When returning our last-known-position we were supplying lat/lng but not
altitude.
This usually really doesn't matter as this result generally isn't used,
especially for altitude. OTOH, it may prevent a bug into the future.
2 years ago
0c65cd1b47
AP_NavEKF3: added a getter function to infer the source index used by ekf3
3 years ago
1b13dd053b
AP_NavEKF3: use send_mesage for sending status report
3 years ago
0443c8561b
AP_NavEKF3: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
3 years ago
8959d35b91
AP_NavEKF3: add EK3_GPS_VACC_MAX as a threshold that decides whether to use GPS as altitude source depending on vAcc
3 years ago
b7f49db1f7
AP_NavEKF3: Add streaming log verbosity level parameter
3 years ago
cf14e741ee
AP_NavEKF3: only include log struture if enabled
3 years ago
e2a83ba428
AP_NavEKF3: fixed undefined behaviour in logging
3 years ago
21890000f7
AP_NavEKF3: fix python files exec permissions
3 years ago
d5670ace3b
AP_NavEKF3: fixed use of configured() vs configured_in_storage()
3 years ago
74c4f3c9a9
AP_NavEKF3: log set source events
3 years ago
eafb118b47
AP_NavEKF3: set filter status dead_reckoning bit
3 years ago
e37bf9ad53
AP_NavEKF3: drag fusion for att and velAiding
...
also add dragTimeout
3 years ago
61c4643aed
AP_NavEKF3: minor comment fix
3 years ago
5a4d61e3a4
AP_NavEKF3 : correct comment spelling
3 years ago
e0023a99bc
AP_NavEKF3: replace AP_HAL::millis() with dal.millis()
3 years ago
37e9ce3fb7
AP_NavEKF3: correct wind estimate param descriptions
...
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
3 years ago
0b16c4063e
AP_NavEKF3: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
3 years ago
adf9c21d48
AP_NavEKF3: remove instance id from EK3 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
3 years ago
df4911cbcb
AP_NavEKF3: avoid direct use of Location alt field
3 years ago
a4da65ea05
AP_NavEKF3: fixed constrain indexing bug
...
fixes #20180
thanks to @liyue75 for spotting this!
3 years ago
0f05cb06fa
AP_NavEKF3: update and correct GSF parameter documentation
3 years ago
0c7ad9511f
AP_NavEKF3: FuseOptFlow only calculates range and velocity once
...
was unnecessarily recalculating these values before fusion
3 years ago
9dcff1a23f
AP_NavEKF3: set rejecting_airspeed flag
...
we report as rejecting airspeed when we have not fused airspeed for 3s
and want to use airspeed
3 years ago
cfcdc1e78f
AP_NavEKF3: optflow terrain reset after 5sec
3 years ago
e16a64383f
AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration
3 years ago
cff3794d25
AP_NavEKF3: minor spelling fixes
3 years ago
db9c1bbfaf
AP_NavEKF3 : correct typo
...
receverPosDownMax -> receiverPosDownMax
receverPosDownMin -> receiverPosDownMin
calcuate -> calculate
3 years ago
970e5f829b
AP_NavEKF3: remove user unintelligible GCS message
3 years ago
a33febd90a
AP_NavEKF3: fixed gaps in EKF logging
...
timestamps should not be static as otherwise some lanes will not be
logged
3 years ago
5178f4a7d0
AP_NavEKF3: Add missing covariance row reset
3 years ago
0cb4425eb9
AP_NavEKF3: fix type, 'willbe' -> 'will be'
3 years ago
15ec2c9c40
AP_NavEKF3: allow boards to override NavEKF3 features
3 years ago
468444bef9
AP_NavEKF3: revert compass parameter changes
3 years ago
308f4e99b4
AP_NavEKF3: correct structure used for logging
...
XKF4 and XKF5 are clones of NKF4 and NKF5, which is why this worked
3 years ago
a89f58a775
AP_NavEKF3: allow define for IMU_MASK_DEFAULT
3 years ago
e818decc39
AP_NavEKF3: update compass param discription
3 years ago
86c481b4b0
AP_NavEKF3: fixed switch to non-zero primary on disarm
...
if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
3 years ago
282209e3e6
AP_NavEKF3: add accessor for GSF yaw estimator
3 years ago
bc0101e446
AP_NavEKF3: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
3 years ago
670663a741
AP_NavEKF3: allow hwdef to override IMU default
3 years ago
0abfde0a7d
AP_NavEKF3: Add APM_BUILD_Heli
3 years ago
67eb6d17eb
AP_NavEKF3: initialize stateStruct.quat to unit length
3 years ago
c828bdfbc9
AP_NavEKF3: Reduce output observer vertical velocity error when bad IMU
3 years ago
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
b66fd214f0
AP_NavEKF3: move from HAL_NO_GCS to HAL_GCS_ENABLED
3 years ago
e9c339a0a0
AP_NavEKF3: fix wind speed covariance initialisation bug
3 years ago
Peter Barker
nrt
Tamas Nepusz
Henry Wurzburg
Iampete1
Andrew Tridgell
Pierre Kancir
Randy Mackay
Ruffalo-sunghwan
Paul Riseborough
Josh Henderson
Andy Piper
Gone4Dirt
Paul Riseborough