ab05e8ed4a
AP_NavEKF3: Update param descriptions
4 years ago
4f4a2f446d
AP_NavEKF3: Remove unsupported parameter unit descriptions
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
ac4a05ffbf
AP_NavEKF3: fixed null dereference of airspeed
...
this caused a segfault in replay
4 years ago
2071a19a40
AP_NavEKF3: only fuse airspeed if healthy
4 years ago
58f6570755
AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h
...
The EKFs logging is independant so we can kill EKF2...
Also use correct structure for logging XKF1; these structures were
identical.
4 years ago
013b39d2a6
AP_NavEKF3: fix ext nav vel timestamp cal
4 years ago
287e9350a5
AP_NavEKF3: move log message IDs in from AP_Logger LogStructure
4 years ago
79109458c2
AP_NavEKF3: move EKF3 logging structures into EKF3 LogStructure.h
4 years ago
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
...
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
4 years ago
bb32f1a397
AP_NavEKF3: avoid initialising unused ring buffers
...
this assumes the nav sources are treated as reboot required
4 years ago
e972fb31b1
AP_NavEKF3: remove unused variables
4 years ago
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
4 years ago
2885026bba
AP_NavEKF3: move tasHealth to be a stack variable
4 years ago
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
4 years ago
2d25149e2e
AP_NavEKF3: move global state to be on the stack
4 years ago
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
4 years ago
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
603e0c090d
AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
4 years ago
52b8b95a72
AP_NavEKF3: rearrange readGPSData to remove some nesting
4 years ago
4cd1c3cfde
AP_NavEKF3: param conversion loses config_error
...
config_error should only be run as part of setup because it may never return
4 years ago
adfc92523b
AP_NavEKF3: add configuredToUseGPSForPosXY
4 years ago
7eea13f86f
AP_NavEKF3: fixed build of standalone replay link test
...
parameter conversion not needed for replay
4 years ago
200b085eea
AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write)
4 years ago
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
4 years ago
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
...
EKF2 needs this for choosing alternate cores. EKF3 does not.
4 years ago
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
4 years ago
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
d1983b0b77
AP_NavEKF3: fixup source param conversion
...
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
4 years ago
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
4 years ago
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
4 years ago
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
4 years ago
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
4 years ago
f88364d653
AP_NavEKF3: use_compass minor order fixup
4 years ago
b475f01b25
AP_NavEKF3: update comments
4 years ago
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
9716b09cad
AP_NavEKF3: minor indenting fix
4 years ago
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
4 years ago
72ee7d15e1
AP_NavEKF3: fixup for AP_DAL
4 years ago
73835f0c11
AP_NavEKF3: pre_arm_check includes sources
4 years ago
6c0bb6a198
AP_NavEKF3: add convert_params for source
4 years ago
849e94cc24
AP_NavEKF3: call sources align inactive sources
4 years ago
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
4 years ago
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
4 years ago
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
4 years ago
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
4 years ago
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
4 years ago
1263648d88
AP_NavEKF3: beacon fusion checks source
4 years ago
8a56ce49be
AP_NavEKF3: optical flow fusion checks source
4 years ago
Paul Riseborough
Andrew Tridgell
Peter Barker
chobits
Randy Mackay