e3eea0a54a
AP_NavEKF3: Use specialised function for in-flight plane yaw alignment
4 years ago
1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
647c568ab9
AP_NavEKF3: out-of-date comments removed
...
GPS, Static and ExtNav yaw buffers have been separated
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
c14b4a8b6c
AP_NavEKF3: add support for GSF as yaw source
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
6dfd2f2ff9
AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication
4 years ago
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
4 years ago
0c3fcfd9d6
AP_NavEKF3: add missing break to case statements
4 years ago
908b348c31
AP_NavEKF3: Fix typo in enum label
4 years ago
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
4 years ago
c2edae905f
AP_NavEKF3: simplify logic when updating yawAngDataStatic
4 years ago
843ddb4fdc
AP_NavEKF3: minor format fix
4 years ago
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
4 years ago
ccfd89240b
AP_NavEKF3: Fix error in calculation of static 312 order yaw reference
4 years ago
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
4 years ago
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
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if we get to this point we must be using the compass fallback logic,
and should do the reset
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
faed58a027
AP_NavEKF3: integrate Source for yaw
4 years ago
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
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Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
4 years ago
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
096aab9388
AP_NavEKF3: 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
2681d3afe2
AP_NavEKF3: simplify alignYawAngle
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
4 years ago
69632336e1
AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw
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Uses sympy derivation
4 years ago
4e41e9f5f1
AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order
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Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
4 years ago
73d5ca5ad3
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
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Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
4 years ago
0b96f046c2
AP_NavEKF3: Unblock initial yaw alignment message
4 years ago
0496ecc4f6
AP_NavEKF2: remove unused state variables
4 years ago
83d784c22d
AP_NavEKF3: fix includes
4 years ago
c03c43e52c
AP_NavEKF3: use same mag switch pattern as EKF2
...
based on Pauls suggested change
5 years ago
458ade86f5
AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask
5 years ago
7ad9e3548f
AP_NavEKF3: make reset source variable local
5 years ago
6b701ae3b3
AP_NavEKF3: correct includes
5 years ago
c8bbbd2720
AP_NavEKF3: Fix bug preventing setting of mag field states
5 years ago
9a4108f55e
AP_NavEKF3: Simplify setting EK3_MAG_CAL
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Don't require user to separately set EK3_MAG_CAL to fly without a magnetomer
5 years ago
0dc598a6e1
AP_NavEKF3: Fix param description and comment
5 years ago
21ea5d5039
AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor
5 years ago
f86c2e1db6
AP_NavEKF3: Don't fuse EKF-GSF yaw for FW flight
5 years ago
b469a80633
AP_NavEKF3: Reset all co-variances when performing a yaw reset
5 years ago
d8c2096ad8
AP_NavEKF3: improve angle accuracy during no mag launch
5 years ago
bf3cb977fd
AP_NavEKF3: clarify yaw reset error message
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The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
5 years ago
939331ae8d
AP_NavEKF3: Fix double iteration of axes in SelectMagFusion
5 years ago
cd5aae20c1
AP_NavEKF3: fixed scary message for non-compass planes
5 years ago
0c1ba48212
AP_NavEKF3: fixed external yaw EK3_MAG_CAL=5 or 6
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don't use GSF
5 years ago
c5e465aec9
AP_NavEKF3: add external nav system support
...
includes decoupling height source from use of external nav data
5 years ago
080f555b16
AP_NavEKF3: remove unused isDeltaYaw param from resetQuatStateYawOnly
5 years ago
197d31e9cc
AP_NavEKF3: fixed in-flight yaw reset
5 years ago
c1ef894a30
AP_NavEKF3: getDataEKFGSF and getYawData pass by reference
5 years ago
8a8271c2c7
AP_NavEKF3: minor format fixes
5 years ago
Paul Riseborough
Andrew Tridgell
Randy Mackay
Peter Barker
Paul Riseborough
chobits
priseborough