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
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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
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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
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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
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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
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
4 years ago
faed58a027
AP_NavEKF3: integrate Source for yaw
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
4 years ago
4c606a30bb
AP_NavEKF3: use common structure names
4 years ago
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
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Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
db86a5acc8
AP_NavEKF3: Don't update yaw estimator with bad GPS
4 years ago
5686dafeef
AP_NavEKF3: fixed logged core for GSF messages
4 years ago
03f2e853ce
AP_NavEKF3: fixed memory corruption on push before init
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this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption
found using the new memory guard system
4 years ago
c14d19be68
AP_NavEKF3: fixed gcc 9.3 build error
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gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
4 years ago
0bc77a3baf
AP_NavEKF3: fixed whitespace
4 years ago
6ee1b23d28
AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection
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as discussed with Paul
4 years ago
6fe05a9ab6
AP_NavEKF3: restore XKTV message
4 years ago
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
4 years ago
eaa8474563
AP_NavEKF3: cope with INS_MAX_INSTANCES below 3
4 years ago
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
4 years ago
21dfdc2192
AP_NavEKF3: use DAL for body frame odometry
4 years ago
a0de6c620f
AP_NavEKF3: use selected GPS for gps_yaw_deg()
...
more than one GPS could provide yaw
4 years ago
f4c3d7286c
AP_NavEKF3: support replay with wheel odomotry
4 years ago
Randy Mackay
Andrew Tridgell
Peter Barker
Paul Riseborough