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Commit Graph

231 Commits (394fbb1a503d6123dd00d168cf8586f84428ac8e)

Author	SHA1	Message	Date
Andrew Tridgell	be674fc36c	AP_NavEKF3: make mag variance reporting consistent ... logged scaled variance should match the value used in MAVLink EKF_STATUS_REPORT	5 years ago
Peter Barker	609b66a053	AP_NavEKF3: rename struct log_NKF2a to log_XKF2	5 years ago
Daniel Magree	b3ff81648b	Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse	5 years ago
Peter Barker	4c19eb4bab	AP_NavEKF3: use compass reference rather than repeatedly asking AHRS for it	5 years ago
Andrew Tridgell	772438f3ed	AP_NavEKF3: fixed use of antenna position when switching GPS primary ... when GPS primary switches we were using a position which had not been corrected for antenna offset. This was used for calculating the reset for sensor change. This fixes that (trivial fix) and also fixes a similar issue on position reset	5 years ago
Siddharth Purohit	545331024f	AP_NavEKF3: Primary compass is always at serial number 0	5 years ago
Peter Hall	47e3fda8e9	AP_NavEKF3: add initalized flag and change to uint32_t	5 years ago
Peter Barker	e289020332	AP_NavEKF3: stop taking ahrs in constructor	5 years ago
Peter Hall	dd75609599	AP_NavEKF3: get_time_flying in vehicle	5 years ago
Peter Barker	03cca68c5a	AP_NavEKF3: use instance number when logging rather than multiple message IDs	5 years ago
Peter Barker	9ed37e4486	AP_NavEKF3: make send_status_report const	5 years ago
Peter Barker	4431d01230	AP_NavEKF3: stop relying on the presence of a RangeFinder	5 years ago
Peter Barker	b055eb8889	AP_NavEKF3: use instance # when logging EKF core timings	5 years ago
Andrew Tridgell	c6aad9b1ec	AP_NavEKF3: don't use WMM tables unless we have a compass scale factor set	5 years ago
Peter Barker	fe8599d6d7	AP_NavEKF3: adjust for renaming of RangeFinder files	5 years ago
Peter Barker	11b372a986	AP_NavEKF3: use enum-class for RangeFinder Status	5 years ago
Randy Mackay	f24afbcf4b	AP_NavEKF3: initialise pre-arm failure message	5 years ago
Mark Whitehorn	3e21ef1389	AP_NavEKF3: add prearm failure message for null core pointer	5 years ago
Randy Mackay	b4a8691a9e	AP_NavEKF3: remove wheel encoder update limit	5 years ago
Randy Mackay	63309c6925	AP_NavEKF3: suppress ekf fail-to-set-origin if core disabled	5 years ago
Jaaaky	54f8e1137e	AP_NavEKF3: added EK3_MAG_EF_LIM parameter ... Adapted from EKF2 implementation as of commits 3835d2613, e9ed3540f and df4fc0fff this sets a limit on the difference between the earth field from the WMM tables and the learned earth field inside the EKF. Setting it to zero disables the feature. A positive value sets the limit in mGauss.	5 years ago
Randy Mackay	5baed38266	AP_NavEKF3: reduce EK3_HRT_FILT max to 30	5 years ago
Paul Riseborough	5b1d9ed868	AP_NavEKF3: Add missing vertical position derivative calculation	5 years ago
Andrew Tridgell	c2067d5bc2	AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees ... GPS modules tend to be rather optimistic about their yaw accuracy. By setting a min or 5 degrees we prevent the user constantly getting warnings about yaw innovations	5 years ago
Andrew Tridgell	3995db49a4	AP_NavEKF3: use parent class for intermediate static variables ... this makes the code faster as well as using less memory when both EK2 and EK3 are enabled	5 years ago
Andrew Tridgell	0e3a27f74f	AP_NavEKF3: change optimisation from -O3 to -O2	5 years ago
Andrew Tridgell	96c6544997	AP_NavEKF3: moved intermediate variables to common memory ... this moves intermediate variables from being per-core to being common between cores. This saves memory on systems with more than one core by avoiding allocating this memory on every core. This is an alternative to #11717 which moves memory onto the stack. It doesn't save as much memory as #11717, but avoids creating large stack frames	5 years ago
Andrew Tridgell	05d62c62bb	AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion ... not all elements of H_MAG are initialised, but they are used, as found by valgrind	5 years ago
Andrew Tridgell	c6f43e9700	AP_NavEKF3: fixed use of old irqsave() API	5 years ago
Peter Barker	1c187d8feb	AP_NavEKF3: correct return of empty prearm string	5 years ago
Andrew Tridgell	fae2e44eac	AP_NavEKF3: reset inhibitMagStates on in-flight yaw reset ... this is needed to prevent the next ConstrainVariances() from zeroing the variances, which leads to very slow learning of mag states	5 years ago
Randy Mackay	0e1a2efb7c	EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder	5 years ago
Michael du Breuil	9a7d64e8fc	AP_NavEKF3: Allow the GPS to be responsible for logging	5 years ago
Peter Barker	7ea449076f	AP_NavEKF3: use timing logging from AP_NavEKF	6 years ago
Peter Barker	61ed6e07eb	AP_NavEKF3: shorten EKF3 initialisation send-text string ... Now: pbarker@bluebottle:~/rc/ardupilot(master)$ echo -n "EKF3 IMU1 buffers IMU=11 OBS=4 OF=10, dt=0.0120" | wc 0 7 47 pbarker@bluebottle:~/rc/ardupilot(master)$ Closes #11952	6 years ago
Andrew Tridgell	fc65e04ef2	AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE ... when on the ground without a position source we would disable the innovation gate for the barometer. This meant that a single (or small number of) really bad baro readings would be fused into the EKF, causing it to destabilise Fixes #11903	6 years ago
Andrew Tridgell	04944fa6ce	AP_NavEKF3: review fixes ... thanks Paul!	6 years ago
Andrew Tridgell	451fe840ee	AP_NavEKF3: ensure that EKF origin stays in sync on all cores ... this prevents the EKF origin on different cores from being initialised to different values. A common value is stored in the frontend and used by a core if it doesn't have an origin	6 years ago
Andrew Tridgell	0fcb2037e1	AP_NavEKF3: use origin lat for earth rates ... home may not yet be set when this code is run, so using home may be invalid	6 years ago
Andrew Tridgell	a3411efdb5	AP_NavEKF3: set origin on all cores ... when EKF origin is set, make sure it is set on all cores	6 years ago
Andrew Tridgell	3818d8ecda	AP_NavEKF3: restrict setting of EKF origin ... only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is used for indoor operation	6 years ago
Siddharth Purohit	db9f7c3dd5	AP_NavEKF3: do logging for 3rd EKF core	6 years ago
priseborough	209a32b8b9	AP_NavEKF3: Fix bug in use of external 321 yaw to align	6 years ago
priseborough	122f214416	AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor	6 years ago
Andrew Tridgell	b56914b879	AP_NavEKF3: use GPS yaw if available and enabled ... this allows a suitable GPS to be used as an external yaw source	6 years ago
priseborough	0c4f92d4c1	AP_NavEKF3: Add control logic to use external yaw sensor	6 years ago
priseborough	71d358803a	AP_NavEKF3: Fix yaw sensor alignment status reporting	6 years ago
priseborough	977a7b68ed	AP_NavEKF3: Add push to buffer for external yaw sensor data	6 years ago
priseborough	0a971c5181	AP_NavEKF3: Add function to reset yaw to external measurement	6 years ago
Andrew Tridgell	62575a194c	AP_NavEKF3: Add data buffers for yaw sensor	6 years ago