7099bb6096
AP_NavEKF2: fixed gcc 9.3 build error
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gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
4 years ago
16f7e51ea5
AP_NavEKF2: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
4 years ago
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
bec095d661
AP_NavEKF2: support replay with external navigation data
4 years ago
224792b8b8
AP_NavEKF2: added optflow support for AP_DAL
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
35e95d3328
AP_NavEKF2: reset body mag variances at key points
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reset on sensor switch or when changing to 3D fusion
4 years ago
d6dcbda0d3
AP_NavEKF2: removed duplicate compass switch check
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left over from last set of changes
4 years ago
da7bb44a61
AP_NavEKF2: Consolidate magnetometer timeout checks
4 years ago
6b9e595602
AP_NavEKF2: fixed handling of failed compass
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when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
4 years ago
83e5639225
AP_NavEKF2: apply min GPS accuracy at measurement point
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this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
5 years ago
032b7c81e5
AP_NavEKF2: correct includes
5 years ago
83dc46d539
AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data
5 years ago
989ffb79cd
AP_NavEKF2: minor format fix
5 years ago
966d59a26d
AP_NavEKF2: protect against ExtNav being NaN
5 years ago
e64c92b322
AP_NavEKF2: use err info from ext nav interface
5 years ago
6c10655059
AP_NavEKF2: accept extnav at up to 50hz
5 years ago
dee095b4a4
AP_NavEKF2: support VISION_SPEED_ESTIMATE
5 years ago
f26a2a47b4
AP_NavEKF2: writeExtNavData accepts delay
5 years ago
e1f27054d5
AP_NavEKF2: Don't use geomag data when user specifies declination
5 years ago
c83e2d7c0e
AP_NavEKF2: fixed loss of GPS fusion
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we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
5 years ago
3edbe81b1e
AP_NavEKF2: removed 2nd set of imuSampleTime_ms
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
8749f30c64
AP_NavEKF2: external nav pos offsets from AP_VisualOdom library
5 years ago
fb7e68c53a
AP_NavEKF2: writeExtNavData reset handles system time wrap
5 years ago
903d81c263
AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it
5 years ago
369292f7f3
AP_NavEKF2: stop relying on the presence of a RangeFinder
5 years ago
fce4d6952f
AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set
5 years ago
99689f65f8
AP_NavEKF2: adjust for renaming of RangeFinder files
5 years ago
9735684184
AP_NavEKF2: use enum-class for RangeFinder Status
5 years ago
3619856fc9
AP_NavEKF2: correct return of empty prearm string
5 years ago
a4d10b2e86
AP_NavEKF2: Allow the GPS to be responsible for logging
5 years ago
414d3eb670
AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3
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when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code
This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
6 years ago
c57b25b4c9
AP_NavEKF2: ensure that EKF origin stays in sync on all cores
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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
2427440e13
AP_NavEKF2: origin handling fixes from Francisco
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
1c4c5a6850
AP_NavEKF2: learn gyro biases for inactive gyros
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this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
6 years ago
82df167ad4
AP_NavEKF2: use beacon singleton
6 years ago
f04e47fc17
AP_NavEKF2: Reduce scope of AP_Baro.h
6 years ago
892b687c09
AP_NavEKF2: Fix AP_GPS.h include
6 years ago
11f31c2851
AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed
6 years ago
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
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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
50e99b6e1a
AP_NavEKF2: use get_distance_NE instead of location_diff
6 years ago
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
ccc1f906f8
AP_NavEKF2: 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
3766ee1b60
AP_NavEKF2: add external navigation data lag
6 years ago
08b9bf4a89
AP_NavEKF2: fix extNav position noise
6 years ago
805647df85
AP_NavEKF2: enable use of in-flight compass learning
6 years ago
d8aa8d2b71
AP_NavEKF2: 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
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
7 years ago
Andrew Tridgell
Paul Riseborough
Peter Barker
Dr.-Ing. Amilcar do Carmo Lucas
Randy Mackay
chobits
Paul Riseborough
Michael du Breuil
Pierre Kancir
Tom Pittenger