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Commit Graph

202 Commits (83b1c3a0bd2b244069c59f26bef578d72ce2bcc7)

Author	SHA1	Message	Date
Peter Barker	da3d3cc21b	AP_NavEKF: stop taking ahrs in constructor	5 years ago
Peter Barker	060c851709	AP_NavEKF2: make send_status_report const	5 years ago
Peter Barker	369292f7f3	AP_NavEKF2: stop relying on the presence of a RangeFinder	5 years ago
Mark Whitehorn	5f6b3a1f5b	AP_NavEKF2: clean up init failure handling ... only attempt to allocate memory once	5 years ago
Mark Whitehorn	23ee9eef5f	AP_NavEKF2: fail prearm on any core setup failure	5 years ago
Mark Whitehorn	489ae83604	AP_NavEKF2: handle core setup failures	5 years ago
Mark Whitehorn	7c6630e216	AP_NavEKF2: EKF2 prefix for prearm failures and camelCase	5 years ago
Mark Whitehorn	95ea6ad807	AP_NavEKF2: provide reasons for init failures	5 years ago
Mark Whitehorn	6e73feca5c	AP_NavEKF2: add prearm failure message for null core pointer	5 years ago
Randy Mackay	e32a8556b2	AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled	5 years ago
Randy Mackay	e2d3afaaa7	AP_NavEKF2: reduce EK2_HRT_FILT max to 30	5 years ago
Paul Riseborough	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
Andrew Tridgell	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
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	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
Michael du Breuil	a4d10b2e86	AP_NavEKF2: Allow the GPS to be responsible for logging	6 years ago
hoangthien94	fc9ff2b09a	AP_NavEKF2: add method to check if ext nav is used for yaw	6 years ago
Andrew Tridgell	e7163afe06	AP_NavEKF2: review fixes ... thanks Paul!	6 years ago
Andrew Tridgell	742ae0b750	AP_NavEKF2: set origin on all cores ... when EKF origin is set, make sure it is set on all cores	6 years ago
Andrew Tridgell	5db41147ed	AP_NavEKF2: 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
Andrew Tridgell	567c902e75	AP_NavEKF2: force first EKF lane when disarmed ... this ensures we consistently fly with EKF lane1 if it is healthy at the point we arm. Otherwise the choice of lane will be a lottery. This is important as many systems have quite different filtering and vibration characteristics on their different IMUs. We by default enable fast sampling only on the first IMU for example, which means the 2nd and 3rd IMUs are more vulnerable to high freq causing aliasing.	6 years ago
Michael du Breuil	892b687c09	AP_NavEKF2: Fix AP_GPS.h include	6 years ago
Andrew Tridgell	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
Andrew Tridgell	df4fc0fff0	AP_NavEKF2: default EK2_MAG_EF_LIM to 50 ... this was supposed to be part of the original PR (agreed with Paul to enable by default)	6 years ago
Andrew Tridgell	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
Andrew Tridgell	cc62998d40	AP_NavEKF2: fixed bug in EKF lane selection ... this fixes an issue in selecting the best lane to change to when we have 3 or more EKF cores. The bug is that if the current lane is unhealthy it would always choose the last healthy lane instead of choosing the lane with the lowest score	6 years ago
Michael du Breuil	7f639c1bb2	AP_NavEKF2: Allow checking all cores for failure	6 years ago
Paul Riseborough	8038efc152	AP_NavEKF2: Flow use parameter updates	6 years ago
Paul Riseborough	e2148e7e2a	AP_NavEKF2: Update default plane optical flow param values ... Reduce time required to form estimate of terrain offset	6 years ago
Paul Riseborough	67d20f3b3c	AP_NavEKF2: Update parameter description	6 years ago
Paul Riseborough	1862512c2b	AP_NavEKF2: Use flow sensor for navigation with unknown platform type ... This is the more common use case.	6 years ago
Paul Riseborough	921205f61c	AP_NavEKF2: Minor amendments from review	6 years ago
Paul Riseborough	a40208ebd4	AP_NavEKF2: Improve optical flow height estimation ... Updated derivation using sequential fusion of Y and X axis data.	6 years ago
Paul Riseborough	2b8b53d6b2	AP_NavEKF2: Add parameter to control how optical flow flow data is used	6 years ago
Mark Whitehorn	6b70181837	AP_NavEKF2: add getQuaternionBodyToNED	6 years ago
Tom Pittenger	8506ae9c32	AP_NavEKF2: rename dataflash to logger	6 years ago
Arjun Vinod	a0e7c37f8c	AP_NavEKF2: fixed typos	6 years ago
Tom Pittenger	b32e8a4424	AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement	6 years ago
Tom Pittenger	8a6a39b590	AP_NavEKF3: unify singleton naming to _singleton and get_singleton()	6 years ago
chobits	3766ee1b60	AP_NavEKF2: add external navigation data lag	6 years ago
Peter Barker	6fc76a32af	GLOBAL: use AP::logger() and strip redundant Log_ from methods	6 years ago
Peter Barker	b47733142f	GLOBAL: rename DataFlash_Class to AP_Logger	6 years ago
Randy Mackay	c616587b86	AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005	6 years ago
Michael du Breuil	29db069c75	AP_NavEKF2: Suppress clearing non-trival type warning	6 years ago
chobitsfan	1e56ad4837	AP_NavEKF2: add external nav system to POSNE_M_NSE description	6 years ago
Peter Barker	889190d46e	AP_NavEKF2: always set EKF control limits, even with no cores	6 years ago
Peter Barker	d8aa8d2b71	AP_NavEKF2: fix writeOptFlowMeas signature ... const some of the vectors, stop taking references to scalars that aren't being changed	7 years ago
Michael du Breuil	ee9cc28fda	AP_NavEKF2: Utilize the GPS drivers estimate for lag	7 years ago
Randy Mackay	3d72022f6e	EKF: modify ALT_SOURCE param description ... We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it	7 years ago
Peter Barker	baa818a812	AP_NavEKF2: use compass singleton for logging	7 years ago