8ecac27777
AP_NavEKF_Source; pre_arm_check may skip position checks
4 years ago
77af6df730
AP_NavEKF: rename EXTERNAL to GPS
4 years ago
0fb168d6ab
AP_NavEKF: source supports GSF yaw
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
fca8eb0778
AP_NavEKF_Source: add ExtNav yaw source
4 years ago
3df1bd84e1
AP_NavEKF_Source:Fixed some style issues
4 years ago
20f1603b73
AP_NavEKF: source skips compass pre-arm check
4 years ago
4998b536b4
AP_NavEKF: source returns YawSource None if COMPASS_USE all zero
4 years ago
dfd1c23cd3
AP_NavEKF: source format fix
4 years ago
218c0e4385
AP_NavEKF: Source's active_source_set becomes index
4 years ago
89f9b9e9b0
AP_NavEKF3: use AP_Enum to make code clearer
4 years ago
754002525e
AP_NavEKF: constify EKFGSF_yaw members
4 years ago
000a2b17c3
AP_NavEKF_Source: remove unused setVelZSource
4 years ago
7f15b7b126
AP_NavEKF_Source: prearm check of wheelencoders
4 years ago
4fdbbd8984
AP_NavEKF: added functions to see if a nav source is enabled
...
this allows us to avoid initialising ring buffers when not needed
4 years ago
ab917ed92e
AP_NavEKF: add more protections on ring buffer code
...
declare an internal error if we try to access an element when not
initialised
4 years ago
fdbffd19c6
AP_NavEKF_Source: remove defaults for baro and compass
...
This makes all our defaults "NONE", meaning that a user will not see a
prearm failure for any source other than those in the primary set when
using the default configuration.
4 years ago
8124c3fea8
AP_NavEKF_Source: set compass_required if we require a compass
4 years ago
6c3948f417
AP_NavEKF_Source: optimise configured_in_storage
...
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
4 years ago
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
4 years ago
e4a9497942
AP_NavEKF: added common EKF buffer classes
4 years ago
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
4 years ago
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
4 years ago
9b84abecaa
AP_NavEKF_Source: enables dynamically changing sensor sources
4 years ago
78e10e99f5
AP_NavEKF: Add accessor for yaw estimator velocity innovation length
4 years ago
97a2c5a576
AP_NavEKF: removed Log_EKF_Timing
...
not needed for new replay
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
3a8751d8a7
AP_NavEKF: remove unused variables
4 years ago
5ad5498b07
AP_NavEKF: Enable external setting of yaw estimator bias states
5 years ago
709a42cb7f
AP_NavEKF: remove unnecessary memcopy
5 years ago
4a743a3827
AP_NavEKF: Remove unnecessary reset operations and class variables
...
The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
5 years ago
0ce4dd457d
AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data
5 years ago
a43beaaa23
AP_NavEKF: GSF white space fixes
5 years ago
1ee9f3a6de
AP_NavEKF: GSF getLogData and getYawData pass by reference
5 years ago
51b62a34b9
AP_NavEKF: Use better type for array index
5 years ago
6bb7c55bba
AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter
...
AP_NavEKF: Simplify centripetal accel correction
5 years ago
b0134460e5
AP_NavEKF:Logger documentation TimeUS fix
5 years ago
051a7dc298
AP_NavEKF: add onboard LogMessage documentation
5 years ago
9ec5355dfc
AP_NavEKF: add initalized flag and change to uint32_t
5 years ago
0da27417bc
AP_NavEKF: use instance # when logging EKF core timings
5 years ago
f79907bd1e
AP_NavEKF: fixed build with vector index checking
5 years ago
688b01c6c6
AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes
...
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:
- the compiler can determine the address of the frequently accessed
variables at compile time, making them faster
- by sharing between EK2 and EK3 we save a lot of memory if both EK2
and EK3 are enabled
- we can fill all these with NaN in SITL on every loop, which allows
us to catch cases where the variables are ever re-used between
loops, which guarantees we aren't mixing data between EKF lanes or
between EK2 and EK3
5 years ago
9e0f525f69
AP_NavEKF: move logging in from AP_Logger
6 years ago
103d1aea41
AP_NavEKF: added gps_quality_good EKF flag
7 years ago
ac9d5f8a5c
AP_NavEKF: Make the status unions use bool, add static asserts
7 years ago
6a91b294b4
AP_NavEKF: Clarify definition for gps_glitching flag
7 years ago
7d777485d8
AP_NavEKF: Add monitoring of average EKF time step
8 years ago
ae3df89d17
AP_NavEKF: added ekf_timing structure
8 years ago
61023fc636
NavEKF: Add GPS vertical accuracy to nav_gps_flags
8 years ago
bb29c74e52
AP_NavEKF: remove EKF1
8 years ago
f54cf6e097
AP_NavEKF: storeIndex remove second initialisation
8 years ago
Randy Mackay
Arsh
Andrew Tridgell
Peter Barker
Paul Riseborough
Paul Riseborough
Rishabh
Peter Hall
Michael du Breuil
priseborough
Pierre Kancir