5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
032b7c81e5
AP_NavEKF2: correct includes
5 years ago
081c0bbfe0
AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods
5 years ago
b95bc9076b
AP_NavEKF2: fix getLLH when no GPS
5 years ago
2919491298
AP_NavEKF2: getLLH fix when no GPS available
5 years ago
a9cbd5aa29
AP_NavEKF2: getDataEKFGSF and getYawData pass by reference
5 years ago
de0040ad69
AP_NavEKF2: Enable use of EKF-GSF yaw estimate
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Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.
AP_NavEKF2: Add missing accesor functions for default airspeed
5 years ago
c9755cf9e6
AP_NavEKF2: make mag variance reporting consistent
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logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
5 years ago
e0eeb4f863
AP_NavEKF2: add initalized flag and change to uint32_t
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
c26c6fd078
AP_NavEKF2: Add missing vertical position derivative calculation
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Use a third order order complementary filter to estimate the rate of change of vertical position output.
5 years ago
fc9ff2b09a
AP_NavEKF2: add method to check if ext nav is used for yaw
6 years ago
9372073f63
AP_NavEKF2: continuously update gpsGoodToAlign
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use it to determine how to handle a height datum reset
6 years ago
892b687c09
AP_NavEKF2: Fix AP_GPS.h include
6 years ago
50e99b6e1a
AP_NavEKF2: use get_distance_NE instead of location_diff
6 years ago
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
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Updated derivation using sequential fusion of Y and X axis data.
6 years ago
79ee52917f
AP_NavEKF2: replace location_offset() and get_distance() function calls with Location object member function calls
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This allows removing duplicated code
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
9be604e3ce
AP_NavEKF2: adjust for location flags being moved out of union
6 years ago
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
6 years ago
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
7 years ago
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
7 years ago
9c8466dc03
AP_NavEKF2: use GPS singleton
7 years ago
171e80d8dc
AP_NavEKF2: only report terrain estimator innovations with valid rng value
7 years ago
dffa3d3b40
AP_NavEKF2: Fix possible compass nullptr dereference
8 years ago
027552ef44
AP_NavEKF2: Fix default behaviour for height origin corrections
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Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
8 years ago
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
8 years ago
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
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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
563be389ee
AP_NavEKF2: only use downward facing rangefinder
8 years ago
8b69f1708e
NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF
8 years ago
66a9093cd0
AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data
8 years ago
0ec8f0932a
AP_NavEKF2: Prevent output of NaN's in range beacon debug output
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This can happen if this accessor function is called before the EKF states are initialised
8 years ago
ef03a85cd3
AP_NavEKF2: add range beacon interface and fusion method
8 years ago
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
8 years ago
f6021c959d
AP_NavEKF2: capture and publish vertical position reset deltas
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Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
8 years ago
e62863f9a1
AP_NavEKF2: Reduce unnecessary EKF core switching
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1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
8 years ago
13ca62b1c7
AP_NavEKF2: Correct velocity and position outputs for IMU offset
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This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
8 years ago
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
dac59cb5da
AP_NavEKF2: use exact matrix for trim rotation
8 years ago
635826c056
AP_NavEKF2: Fix reporting of terrain estimator innovations
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Terrain height is relevant whenever optical flow data is present
8 years ago
b6867e085d
AP_NavEKF2: Don't report range finder variance on mavlink if not required
9 years ago
230ba2700f
AP_NavEKF2: fix documentation errors
9 years ago
341d070db8
AP_NavEKF2: Separate filter status update and get functions
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The filter status logic calculations were being repeated every time the get function was called.
The logic is now updated once per filter update step and a separate get function added
9 years ago
b1717649b1
AP_NavEKF2: remove combined NED local position interface
9 years ago
e374ec634d
AP_NavEKF2: Add separate horizontal/vertical local position interfaces
9 years ago
280395afa1
AP_NavEKF2: Don't declare ready to do aiding unless gyro bias is learned
9 years ago
14bb4f4574
AP_NavEKF2: Publish output observer tracking errors
9 years ago
Andrew Tridgell
Peter Barker
Randy Mackay
Paul Riseborough
Peter Hall
Paul Riseborough
hoangthien94
Michael du Breuil
Pierre Kancir
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
Tom Pittenger
Paul Riseborough
Mathieu OTHACEHE
Jonathan Challinger