da3d3cc21b
AP_NavEKF: stop taking ahrs in constructor
5 years ago
524647d221
AP_NavEKF2: use instance number when logging rather than multiple message IDs
5 years ago
060c851709
AP_NavEKF2: make send_status_report const
5 years ago
369292f7f3
AP_NavEKF2: stop relying on the presence of a RangeFinder
5 years ago
5f6b3a1f5b
AP_NavEKF2: clean up init failure handling
...
only attempt to allocate memory once
5 years ago
23ee9eef5f
AP_NavEKF2: fail prearm on any core setup failure
5 years ago
489ae83604
AP_NavEKF2: handle core setup failures
5 years ago
7c6630e216
AP_NavEKF2: EKF2 prefix for prearm failures and camelCase
5 years ago
95ea6ad807
AP_NavEKF2: provide reasons for init failures
5 years ago
c26c6fd078
AP_NavEKF2: Add missing vertical position derivative calculation
...
Use a third order order complementary filter to estimate the rate of change of vertical position output.
5 years ago
f7e138bddd
AP_NavEKF2: 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
0041874826
AP_NavEKF2: 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
a4d10b2e86
AP_NavEKF2: Allow the GPS to be responsible for logging
5 years ago
fc9ff2b09a
AP_NavEKF2: add method to check if ext nav is used for yaw
6 years ago
c57b25b4c9
AP_NavEKF2: 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
6a0a466f42
AP_NavEKF2: factor out and logging functions, reuse for 2nd core
6 years ago
5175d23cc1
AP_NavEKF2: move logging in from AP_Logger
6 years ago
f04e47fc17
AP_NavEKF2: Reduce scope of AP_Baro.h
6 years ago
3073c4da7a
AP_NavEKF2: added checkLaneSwitch()
...
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
6 years ago
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
...
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.
6 years ago
7f639c1bb2
AP_NavEKF2: Allow checking all cores for failure
6 years ago
8038efc152
AP_NavEKF2: Flow use parameter updates
6 years ago
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
...
Updated derivation using sequential fusion of Y and X axis data.
6 years ago
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
6 years ago
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
3766ee1b60
AP_NavEKF2: add external navigation data lag
6 years ago
d8aa8d2b71
AP_NavEKF2: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
7 years ago
81044760c7
AP_NavEKF2: const accessors
7 years ago
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
7 years ago
5ab89324b2
AP_NavEKF2: use baro singleton
7 years ago
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
7 years ago
dbe860152d
AP_NavEKF2: tight types on constants
...
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
7 years ago
3a99b2bce1
AP_NavEKF: move initialisation of EKF constants into header file
...
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
7 years ago
4d4e66d825
AP_NavEKF2: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
4019a167a9
AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()
7 years ago
3c04f4e4d1
AP_NavEKF2: add static create method
7 years ago
f2f3067326
AP_NavEKF2: Add interface to control GPS vertical velocity use
8 years ago
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
8 years ago
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
...
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
8 years ago
ce37517268
AP_NavEKF2: Improve comments, typos
8 years ago
2de8777669
AP_NavEKF2: added inter-EKF scheduling cooperation
...
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.
It allows us to run EK3 and EK2 at the same time with good scheduling
performance
8 years ago
ee5c032f27
AP_NavEKF2: added recording of timing statistics
8 years ago
b255c7b370
AP_NavEKF: add setOrigin
8 years ago
9f3c2cb704
AP_NavEKF2: allow access to quaternion for each instance
8 years ago
44fa82d58c
AP_NavEKF2: Reference correct derivation
8 years ago
e7a34b0fb3
AP_NavEKF2: Add set_baro_alt_noise method
8 years ago
1a7b5538e5
AP_NavEKF2: Enable simple heading fusion to be set for specific cores
8 years ago
fe69d9a0ea
AP_NavEKF2: remove duplicate include
8 years ago
Peter Barker
Mark Whitehorn
Paul Riseborough
Andrew Tridgell
Michael du Breuil
hoangthien94
Arjun Vinod
chobits
Paul Riseborough
Lucas De Marchi
Dr.-Ing. Amilcar Do Carmo Lucas
Randy Mackay
Jacob Walser