92783bccfa
AP_NavEKF3: don't allow height datum reset when not on ground
6 years ago
3f9e48951b
AP_NavEKF3: set terrainState to zero on height datum reset
6 years ago
f3fc910abe
AP_NavEKF3: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
b9a5794671
AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset
...
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
6 years ago
2208689893
AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection
6 years ago
209bca162c
AP_NavEKF3: added inactive bias learning
...
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
ce45baa034
AP_NavEKF3: factor out and logging functions, reuse for 2nd core
6 years ago
f3f364de26
AP_NavEKF3: move logging in from AP_Logger
6 years ago
5151416080
AP_NavEKF3: 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
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
60831c2878
AP_NavEKF3: 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
dce472745e
AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed
6 years ago
f21e4d833c
AP_NavEKF3: Fix GPS < 3D empty PreArm: msg-as EKF2
6 years ago
0a5d6a430a
AP_NavEKF3: accept optical flow data at up to 50hz
6 years ago
e4f6ffe719
AP_NavEKF3: 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
fe3b29a088
AP_NavEKF3: Allow checking all cores for health
6 years ago
b3a1c9c90c
AP_NavEKF3: use get_distance_NE instead of location_diff
6 years ago
9aaa0cd2e0
AP_NavEKF3: Fix typo in comment
6 years ago
b7e0a2345c
AP_NavEKF3: Fix indexing error
...
Caused by copy and paste from AP_NavEKF2 which useds index 5 for vertical velocity. EKF3 should use index 6.
6 years ago
0d3e1a7d23
AP_NavEKF3: flow use parameter improvements
6 years ago
d3e9281846
AP_NavEKF3: Update default plane optical flow param values
...
Reduce time required to form estimate of terrain offset
6 years ago
35c82ef67f
AP_NavEKF3: Improve optical flow height estimation
6 years ago
b848e231c7
AP_NavEKF3: Add parameter to control how optical flow data is used
6 years ago
3c432cf25c
AP_NavEKF3: add getQuaternionBodyToNED
6 years ago
17ee20af3f
AP_NavEKF3: rename dataflash to logger
6 years ago
390e0fa601
AP_NavEKF3: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
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
8a6a39b590
AP_NavEKF3: unify singleton naming to _singleton and get_singleton()
6 years ago
39ffef1f08
AP_NavEKF3: fixed EKF compass switching
...
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
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
0d4475f443
AP_NavEKF3: adjust for Location_Class and Location unification
6 years ago
dd8da7321c
AP_NavEKF3: adjust for location flags being moved out of union
6 years ago
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
340429fbbb
AP_NavEKF3: pass by const reference when needed
6 years ago
25ef5fed82
AP_NavEKF3: Suppress clearing non-trival type warning
6 years ago
de58fb4637
AP_NavEKF3: support in-flight compass learning
6 years ago
560f17a570
AP_NavEKF3: use union to alias array and struct access to states
...
This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on
which is deemed faster - not a good outcome.
6 years ago
27e3a89158
AP_NavEKF3: correct compilation when running MATH_CHECK_INDEXES
6 years ago
281fad53c2
AP_NavEKF3: always set EKF control limits, even with no cores
6 years ago
b68a91d171
AP_NavEKF3: remove default clause in setAidingMode
...
All aiding modes should be covered in the switch statement; adding the
default clause squelches a potentially useful compiler warning
6 years ago
1991f223ac
AP_NavEKF3: Fix roundoff, and missing offset handling of getLLH
6 years ago
be9235a581
AP_NavEKF3: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
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
ac40a20c02
AP_NavEKF3: fill in gps_quality_good flag
7 years ago
6bf5ffdb6d
AP_NavEKF3: use compass singleton for logging
7 years ago
4d5e258b19
AP_NavEKF3: Delete unused definitions
7 years ago
Andrew Tridgell
Peter Barker
Michael du Breuil
Jaaaky
Randy Mackay
Pierre Kancir
Paul Riseborough
Mark Whitehorn
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
murata