1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
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saves about 11k of flash
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
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
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these were unused
4 years ago
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
4 years ago
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
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MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
4 years ago
f88364d653
AP_NavEKF3: use_compass minor order fixup
4 years ago
b475f01b25
AP_NavEKF3: update comments
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
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also integrate useVelZSource
4 years ago
6c0bb6a198
AP_NavEKF3: add convert_params for source
4 years ago
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
4 years ago
faed58a027
AP_NavEKF3: integrate Source for yaw
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
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
db86a5acc8
AP_NavEKF3: Don't update yaw estimator with bad GPS
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
b726630ef4
AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully
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vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
4 years ago
7b898ee001
AP_NavEKF3: minor comment and format fixes
4 years ago
64a3d8fe4e
AP_NavEKF3: Update documentation
4 years ago
90e928c32a
AP_NavEKF3: Re-tune tilt alignment check
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New tilt error variance estimate is more accurate and larger than before.
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
4 years ago
fcccdcc936
AP_NavEKF3: fixed bug in external yaw for fixed wing
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when we are on the ground we should not chang to AID_NONE if we have
an external yaw source
this fixes an EKF3 error loop on the ground found by Michael
4 years ago
e4056086e0
AP_NavEKF3: minor format and spelling fixes
4 years ago
7398529f6b
AP_NavEKF3: minor format fix
4 years ago
8a4b0f858a
AP_NavEKF3: reset body mag variances at key points
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we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
4 years ago
1f21d72c79
AP_NavEKF3: fixed init of earth state mag variances
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we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
4 years ago
886a7d44a7
AP_NavEKF3: allow switch to ExtNav from optflow
5 years ago
6bf2057712
AP_NavEKF3: minor formatting fixes
5 years ago
4c40d2ac3f
AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps
5 years ago
7ad9e3548f
AP_NavEKF3: make reset source variable local
5 years ago
6b701ae3b3
AP_NavEKF3: correct includes
5 years ago
564244ce9a
AP_NavEKF3: fix extnav vel reset
5 years ago
24fccd5d87
AP_NavEKF3: Don't delay GPS use unnecessarily
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Fixed wing should not wait for bias state convergence after in-flight yaw alignment
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
21ea5d5039
AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor
5 years ago
354b551ef0
AP_NavEKF3: Handle repeated FW flight without magnetometer
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The EKF can build up large yaw errors on ground so it is safer to stop using GPS and re-align after launch as per first launch.
5 years ago
8ff6780323
AP_NavEKF3: Clarify distinct use cases for 'takeoff expected'
5 years ago
bcd23e1063
AP_NavEKF3: Fix one frame delay in processing yaw estimator velocity data
5 years ago
c7817eaca1
AP_NavEKF3: support VISION_SPEED_ESTIMATE
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Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
5 years ago
5ad3611142
AP_NavEKF3: improve ext nav glitch handling
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replaces extNavTimeout with posTimeout
replaces lastExtNavPassTime_ms with lastPosPassTime_ms
5 years ago
318811210f
AP_NavEKF3: Don't perform emergency yaw reset unless commanded externally
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This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
5 years ago
cbb25311bb
AP_NavEKF3: setAidingMode uses lastExtNavPassTime_ms
5 years ago
c5e465aec9
AP_NavEKF3: add external nav system support
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includes decoupling height source from use of external nav data
5 years ago
Andrew Tridgell
Randy Mackay
Paul Riseborough
Paul Riseborough
chobits
Peter Barker
priseborough