4431d01230
AP_NavEKF3: stop relying on the presence of a RangeFinder
5 years ago
c6aad9b1ec
AP_NavEKF3: don't use WMM tables unless we have a compass scale factor set
5 years ago
fe8599d6d7
AP_NavEKF3: adjust for renaming of RangeFinder files
5 years ago
11b372a986
AP_NavEKF3: use enum-class for RangeFinder Status
5 years ago
b4a8691a9e
AP_NavEKF3: remove wheel encoder update limit
5 years ago
54f8e1137e
AP_NavEKF3: added EK3_MAG_EF_LIM parameter
...
Adapted from EKF2 implementation as of commits
3835d2613e9ed3540fdf4fc0fff
5 years ago
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
1c187d8feb
AP_NavEKF3: correct return of empty prearm string
5 years ago
9a7d64e8fc
AP_NavEKF3: Allow the GPS to be responsible for logging
6 years ago
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
b56914b879
AP_NavEKF3: use GPS yaw if available and enabled
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this allows a suitable GPS to be used as an external yaw source
6 years ago
977a7b68ed
AP_NavEKF3: Add push to buffer for external yaw sensor data
6 years ago
87c7649d09
AP_NavEKF3: Add interface for yaw angle measurements
6 years ago
634db441f8
AP_NavEKF3: origin handling fixes from Francisco
6 years ago
f3fc910abe
AP_NavEKF3: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
209bca162c
AP_NavEKF3: added inactive bias learning
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this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
6 years ago
ef2589738d
AP_NavEKF3: use beacon singleton
6 years ago
b624f6f008
AP_NavEKF3: Reduce scope of AP_Baro.h
6 years ago
be74b631fe
AP_NavEKF3: Fix AP_GPS.h include
6 years ago
dce472745e
AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed
6 years ago
b3a1c9c90c
AP_NavEKF3: use get_distance_NE instead of location_diff
6 years ago
f382a657bd
AP_NavEKF3: fixed typos
6 years ago
55377b234f
AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
39ffef1f08
AP_NavEKF3: fixed EKF compass switching
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when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
6 years ago
de58fb4637
AP_NavEKF3: support in-flight compass learning
6 years ago
be9235a581
AP_NavEKF3: fix writeOptFlowMeas signature
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const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
48c5a9b9c5
AP_NavEKF3: style change in BCN mesurements
7 years ago
55b8a2288e
AP_NavEKF3: use ins singleton
7 years ago
7b1a906c4e
AP_NavEKF3: use baro singleton
7 years ago
6a1055389d
AP_NavEKF3: Fix origin height estimator indexing bug
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EKF3 should use index 9 to access vertical position states
7 years ago
5dc714bf5f
AP_NavEKF3: use GPS singleton
7 years ago
63440800fc
AP_NavEKF3: use rangefinder backend accessors
8 years ago
2310cb6d19
AP_NavEKF3: Enable external control over use of GPS vertical velocity
8 years ago
db7c8439c6
AP_NavEKF3: Fix bug in wheel odometry timestamp correction
8 years ago
c7f6d52065
AP_NavEKF3: Add wheel encoder odometry
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Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
8 years ago
593437ca95
AP_NavEKF3: Add tuning of visual odometry observation error
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Also adjust default values based on replay analysis.
8 years ago
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
2a9eceaf10
AP_NavEKF3: Fix bugs causing height drift when using range beacons
8 years ago
7d63286088
AP_NavEKF3: update to match AP_GPS interface change
8 years ago
628d140319
AP_NavEKF3: Make target covariance time step larger
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The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
8 years ago
9da3caca47
AP_NavEKF3: 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
23b7f1e645
AP_NavEKF3: Improve comments, typos
8 years ago
4a898037e9
AP_NavEKF3: documentation update
8 years ago
a04aff7a7d
AP_NavEKF3: added inter-EKF scheduling cooperation
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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
0bf50fd56f
AP_NavEKF3: Add monitoring of average EKF time step
8 years ago
3ce81967ae
AP_NavEKF3: Improve calculation and use of average EKF time step
8 years ago
7abf9997e6
AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF
8 years ago
adb281cd4e
AP_NavEKF3: added timing statistics logging
8 years ago
fb7104f4e3
AP_NavEKF3: add fusion method for body frame odometry data
8 years ago
3f6a734a71
AP_NavEKF3: only use downward facing rangefinder
8 years ago
Peter Barker
Andrew Tridgell
Randy Mackay
Jaaaky
Michael du Breuil
priseborough
Pierre Kancir
Arjun Vinod
Tom Pittenger
Dr.-Ing. Amilcar Do Carmo Lucas