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
3006d50f97
AP_NavEKF3: use vector.xy().length() instead of norm(x,y)
3 years ago
dabba69b5e
AP_NavEKF3: improve description of XKF4/NKF4 fields
...
Courtesy Paul Riseborough here: https://github.com/ArduPilot/ardupilot_wiki/issues/3641#issuecomment-913577132
3 years ago
63e579d738
AP_NavEKF3: add using_extnav_for_yaw
4 years ago
0edfd2634f
AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw
4 years ago
d1f2acd813
AP_NavEKF3: rename varInnovOptFlow to flowVarInnov
...
also renamed innovOptFlow to flowInnov
4 years ago
85ade10e85
AP_NavEKF3: ofDataNew made local
4 years ago
11847cfcf5
AP_NavEKF3: always calculate optical flow innovations and variances
4 years ago
914a8dca49
AP_NavEKF3: for loops use uint8_t instead of unsigned
4 years ago
5779ebd177
AP_NavEKF3: remove unused Tbn_flow
4 years ago
f9fd63e01e
AP_NavEKF3: remove unused optflow calcs
4 years ago
d6a5622fcb
AP_NavEKF3: Remove @RebootRequired : False
4 years ago
5c86cc6828
AP_NavEKF3: added EK3_PRIMARY parameter
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allows for selection of which IMU to use on startup
4 years ago
8216905f47
AP_NavEKF3: remove unecessary assignements
4 years ago
2a2cde68ef
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
4 years ago
ff59e0f72f
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
4 years ago
2f1444772b
AP_NavEKF3: XKF3.IYAW logs in degrees
4 years ago
d961186e0c
AP_NavEKF3: remove unused EK3_GSF_DELAY param
4 years ago
8681ecebfd
AP_NavEKF3: mark log messages as streaming
4 years ago
c34284b6eb
AP_NavEKF3: stop using AHRS as conduit for Compass pointer
4 years ago
17ead96250
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
4 years ago
aa6ac4a874
AP_NavEKF3: retune wind process noise for better airspeed fault detection
4 years ago
8fd1e98701
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
0088b0f3fe
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
4 years ago
59d31cc7d5
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
5fa3ed5755
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
7497590363
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
4 years ago
3e123c0a30
AP_NavEKF3: Use sensor variance when checking for bad IMU
4 years ago
e3bdbcd8ea
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
ccc95d8726
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
ed61287410
AP_NavEKF3: Don't update accel bias states if vibration affected
4 years ago
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
5eb7751682
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
4 years ago
72dc998509
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
0f2661c31c
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
4 years ago
171eed5d85
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
ce4d13091a
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
6242ce19fa
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
bb9eed28a9
AP_NavEKF3: Update covariance prediction equations
4 years ago
7b8e935880
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
4 years ago
795f412264
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
fc2118f42b
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
4 years ago
0b9cde5812
AP_NavEKF3: fixed indentation in readGpsData()
4 years ago
Josh Henderson
Paul Riseborough
Paul Riseborough
Peter Barker
Randy Mackay
TunaLobster
Andrew Tridgell
Pierre Kancir