fe06606193
AP_NavEKF2: Ensure corrected IMU data used by EKF
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Don't try to pop new IMU data from the buffer unless we have written data.
Correct IMU data as soon as it is popped from the buffer
9 years ago
1400dc9d02
AP_NavEKF2: Add tuning parameters for magentic yaw fusion
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Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
9 years ago
dc6836988c
AP_NavEKF2: Improve ground based magnetic anomaly protection for copter
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The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
9 years ago
703f56908f
AP_NavEKF2: Correct comment
9 years ago
26815ace7a
AP_NavEKF2: Remove redundant logic check
9 years ago
bd8c804ab5
AP_NavEKF2: correct comments
9 years ago
ebae95d7f6
AP_NavEKF2: apply corrections to new inertial data when using for output prediction
9 years ago
2f709dfe86
AP_NavEKF2: improve inertial prediction
9 years ago
262c5fe56d
AP_NavEKF2: Make setter loop through all instances
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For setters where a success boolean is returned, return false if any instance fails.
9 years ago
8baf064317
AP_NavEKF2: setTakeoffExpected and setTouchdownExpected loop through instances
9 years ago
ec5c460584
AP_NavEKF2: Fix predicted nav reporting
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Predicted nav should never be false if current nav is true
9 years ago
99f481e098
AP_NavEKF2: always calcGpsGoodForFlight
9 years ago
3382e09580
AP_NavEKF2: add height constraint during takeoff
9 years ago
4bb46af861
AP_NavEKF2: Increase allowable gyro bias offset
9 years ago
24d8cc62e2
AP_NavEKF2: rework yaw and magnetic heading reset logic
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Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
9 years ago
a94a19bd09
AP_NavEKF2: Fix bug causing continual yaw resets
9 years ago
97e2203e70
AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core
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this reduces the risk that mag fusion errors will badly affect
attitude estimation.
9 years ago
de15928921
AP_NavEKF2: prevent potential arithmetic error in declination fusion
9 years ago
722eb0d706
AP_NavEKF2: Fix bug for start of wind speed estimation
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The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
9 years ago
ac329ec31c
AP_NavEKF2: use observation noise to set initial magnetic field variances
9 years ago
830751c0ae
AP_NavEKF2: remove un-wanted functionality from mag and yaw reset
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The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
9 years ago
11c6ea7ef6
AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets
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Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
9 years ago
cdd09df9ac
AP_NavEKF: Add function to zero attitude state co-variances
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When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
9 years ago
6d34ac5ceb
AP_NavEKF2: improve switch-over to use of mag field states
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Set initial variances to measurement uncertainties
Always perform a field and yaw reset
9 years ago
fe9ddfdfeb
AP_NavEKF2: remove code that prevents attitude updates after mag reset
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This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
9 years ago
fe85c68344
AP_NavEKF2: move yaw reset for no compass case
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Should not be in a function that performs reset on magnetic field states
9 years ago
da0622827d
AP_NavEKF: update tuning defaults
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Increase speed of scale factor learning
9 years ago
9eef97d108
AP_NavEKF2: use consistent parameter naming
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M_NSE is a measurement noise
P_NSE is a observation noise
I_GATE is an innovation gate
This also ensures the new parameter values required to use the EKF2 will be enforced.
9 years ago
74121fdaeb
AP_NavEKF2: fix bug preventing in-flight alignment
9 years ago
16cb7078cd
AP_NavEKF2: Fix misleading pre-flight status reporting
9 years ago
38d61f5281
AP_NavEKF2: Update status reporting to handle no-magnetometer startup
9 years ago
9aa3cdfaae
AP_NavEKF2: Update GPS yaw re-alignment function
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Updates to support initial alignment without magnetometer
9 years ago
e3c966661b
AP_NavEKF2: Remove unnecessary variance reset
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This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
9 years ago
1179c08473
AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw
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This happens if planes are flown without a compass
9 years ago
581c1aa0d4
AP_NavEKF2: Adjust attitude variance values used after a heading reset
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Because these errors are in body frame, a spherical error should be used to accommodate different orientations
9 years ago
5ec8d523f6
AP_NavEKF: remove unwanted co-variance reset
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The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
9 years ago
66e4d9d6e8
AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset
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Ensures consistent behaviour after resets and reduces attitude disturbances
9 years ago
cf8175a073
AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
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Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
9 years ago
08de4e6d95
AP_NavEKF: Do not perform start-up yaw alignment if no compass
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Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
9 years ago
d2694fe5dc
AP_NavEKF2: Remove duplicate transition into GPS aiding
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This decision is made in one place in setAidingMode()
9 years ago
7201f7d2fd
AP_NavEKF2: fix comment
9 years ago
64a8153b68
AP_NavEKF2: update function name
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The primary purpose of this function is re-alignment
9 years ago
addd213af0
AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude
9 years ago
a3b78e6231
AP_NavEKF2: update tuning defaults
9 years ago
65f63341d7
AP_NavEKF2: Improve numerical error protection in optical flow fusion
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Abort fusion of data if variances will become negative and publish the fault
9 years ago
42da33593d
AP_NavEKF2: fix yaw fusion numerical health reporting
9 years ago
6eb9d43507
AP_NavEKF2: add numerical error checking and isolation to mag decl fusion
9 years ago
b325c5faeb
AP_NavEKF2: add error checking and isolation to mag heading fusion
9 years ago
a0b1dc5325
AP_NavEKF2: add error checking and isolation to 3D amg fusion
9 years ago
51a3df0319
AP_NavEKF2: Add error checking and isolation to pos vel fusion
9 years ago
Paul Riseborough
Jonathan Challinger
Andrew Tridgell