ac00776184
AP_NavEKF2: DAL interface compatibility change
4 years ago
af639f7812
AP_NavEKF2: Change misnomer (NFC)
4 years ago
3306484023
AP_NavEKF2: log position offset as float in meters
4 years ago
948650dbe5
AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset
...
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
4 years ago
d668243d1e
AP_NavEKF2: move GSF logging from EKF files into GSF files
4 years ago
53eb2f2bf4
AP_NavEKF2: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
445a461f12
AP_NavEKF2: remove getFilterTimeouts access methods
4 years ago
401cccca19
AP_NavEKF2: correct description on NKF3.SVT
4 years ago
dddb285209
AP_NavEKF2: remove internal-only getTiltError method
4 years ago
6b60bae068
AP_NavEKF2: remove unused getAccelNED method
4 years ago
60633f5a7f
AP_NavEKF2: disable ekf2 by default
4 years ago
1e75bb971e
AP_NavEKF2: constrain vertical error
...
this prevents a floating point exception with external AHRS
4 years ago
b36bfe4206
AP_NavEKF2: fixed init order for scheduler
...
this can impact replay of EKF2
4 years ago
b372d62f35
AP_NavEKF2: Add accessor function for body frame airspeed vector
4 years ago
5e72907730
AP_NavEKF2: only fuse airspeed if healthy
4 years ago
f6d3983e1b
AP_NavEKF2: move EKF2 message ids into AP_NavEKF2
4 years ago
00ac8391c0
AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h
4 years ago
c5c810b724
AP_NavEKF2: use structures for logging GSF data
...
This makes it look like EKF2 and is marginally more efficient.
4 years ago
f94f51d9d3
AP_NavEKF2: move log message metadata to be above the structure
...
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
4 years ago
d600b87454
AP_NavEKF2: make logging a core concern
4 years ago
fc7e7dcee4
AP_NavEKF2: remove unused variables
4 years ago
addd57dcab
AP_NavEKF2: move badMagYaw onto stack
4 years ago
0aa10d8281
AP_NavEKF2: move tasHealth to be a stack variable
4 years ago
3a98d51427
AP_NavEKF2: move posvel fusion health booleans to be on the stack
4 years ago
400ba7a9df
AP_NavEKF2: move global state to be on the stack
4 years ago
7313e9eb0f
AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
79148498d3
AP_NavEKF2: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
4 years ago
4087d7b792
AP_NavEKF2: add configuredToUseGPSForPosXY
4 years ago
39ba8a8c83
AP_NavEKF2: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
3a4095fc7f
AP_NavEKF2: use common structure names
4 years ago
248ef92ed7
AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw
...
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
e5e8d0ba3c
AP_NavEKF2: Don't update yaw estimator with bad GPS
4 years ago
a2f4b16cdc
AP_NavEKF2: fixed logged core for GSF messages
4 years ago
01cd678244
AP_NavEKF2: fixed memory corruption on push before init
...
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption
found using the new memory guard system
4 years ago
7099bb6096
AP_NavEKF2: fixed gcc 9.3 build error
...
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
4 years ago
5b41d5541f
AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection
...
as discussed with Paul
4 years ago
7d7031d3d7
AP_NavEKF2: added const (review request)
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
246a441883
AP_NavEKF2: cope with INS_MAX_INSTANCES below 3
4 years ago
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
...
saves a bit of flash space
4 years ago
8591b31665
AP_NavEKF2: cleanup unused code
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
90a8c5cb1a
AP_NavEKF2: use ekf_low_time_remaining for core scheduling
4 years ago
f3c3778169
prevent duplicate EKF logging
...
vehicle code sometimes tries to log the same data twice
4 years ago
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
84c92b717f
AP_NavEKF2: make coreBetterScore const
4 years ago
fccc1fcb72
AP_NavEKF2: minor comment fix
4 years ago
dc32f7a12f
AP_NavEKF2: fixed multi-core yaw reset
...
thanks to Alex Burka for finding this
4 years ago
0496ecc4f6
AP_NavEKF2: remove unused state variables
4 years ago
Paul Riseborough
murata
Iampete1
Peter Barker
Patrick José Pereira
Randy Mackay
Andrew Tridgell