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Commit Graph

487 Commits (c81df7b5ada9492f43b36a804d09f57e0f8b8407)

Author	SHA1	Message	Date
Paul Riseborough	a3725e2581	AP_NavEKF3: Fix bug in calculation of rotation order	5 years ago
Paul Riseborough	eeac0a05b9	AP_NavEKF3: Improvements to on ground movement check ... Reduce sensitivity and log test ratios. Reduce base logging rate to 5Hz and log when status changes.	5 years ago
Paul Riseborough	ebb8bb4f6f	AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts	5 years ago
Andrew Tridgell	3ae0b0d446	AP_NavEKF3: added using_external_yaw() method ... needed by AHRS for attitudes_consistent() check	5 years ago
Andrew Tridgell	6f04fae4a0	AP_NavEKF3: added fallback to mag option with external yaw ... this allows for a magnetometer to be used as a fallback yaw source in flight when using an external yaw source such as a GPS. The magnetometer bias is learned while the GPS yaw is available and fallback is only done if the mag yaw and GPS yaw are consistent when fallback is enabled This also learns the Z gyro bias until first yaw alignment when MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias building while waiting for GPS lock	5 years ago
Andrew Tridgell	a3100251a8	AP_NavEKF3: use enum class for EK3_MAG_CAL values ... and use effective_magCal() everywhere for consistency	5 years ago
Andrew Tridgell	be674fc36c	AP_NavEKF3: make mag variance reporting consistent ... logged scaled variance should match the value used in MAVLink EKF_STATUS_REPORT	5 years ago
Peter Barker	609b66a053	AP_NavEKF3: rename struct log_NKF2a to log_XKF2	5 years ago
Daniel Magree	b3ff81648b	Nav_EKF3: varInnovBodyVel assigned the innovation covariance, rather than inverse	5 years ago
Peter Barker	4c19eb4bab	AP_NavEKF3: use compass reference rather than repeatedly asking AHRS for it	5 years ago
Andrew Tridgell	772438f3ed	AP_NavEKF3: fixed use of antenna position when switching GPS primary ... when GPS primary switches we were using a position which had not been corrected for antenna offset. This was used for calculating the reset for sensor change. This fixes that (trivial fix) and also fixes a similar issue on position reset	5 years ago
Siddharth Purohit	545331024f	AP_NavEKF3: Primary compass is always at serial number 0	5 years ago
Peter Hall	47e3fda8e9	AP_NavEKF3: add initalized flag and change to uint32_t	5 years ago
Peter Barker	e289020332	AP_NavEKF3: stop taking ahrs in constructor	5 years ago
Peter Hall	dd75609599	AP_NavEKF3: get_time_flying in vehicle	5 years ago
Peter Barker	03cca68c5a	AP_NavEKF3: use instance number when logging rather than multiple message IDs	5 years ago
Peter Barker	9ed37e4486	AP_NavEKF3: make send_status_report const	5 years ago
Peter Barker	4431d01230	AP_NavEKF3: stop relying on the presence of a RangeFinder	5 years ago
Peter Barker	b055eb8889	AP_NavEKF3: use instance # when logging EKF core timings	5 years ago
Andrew Tridgell	c6aad9b1ec	AP_NavEKF3: don't use WMM tables unless we have a compass scale factor set	5 years ago
Peter Barker	fe8599d6d7	AP_NavEKF3: adjust for renaming of RangeFinder files	5 years ago
Peter Barker	11b372a986	AP_NavEKF3: use enum-class for RangeFinder Status	5 years ago
Randy Mackay	f24afbcf4b	AP_NavEKF3: initialise pre-arm failure message	5 years ago
Mark Whitehorn	3e21ef1389	AP_NavEKF3: add prearm failure message for null core pointer	5 years ago
Randy Mackay	b4a8691a9e	AP_NavEKF3: remove wheel encoder update limit	5 years ago
Randy Mackay	63309c6925	AP_NavEKF3: suppress ekf fail-to-set-origin if core disabled	5 years ago
Jaaaky	54f8e1137e	AP_NavEKF3: added EK3_MAG_EF_LIM parameter ... Adapted from EKF2 implementation as of commits 3835d2613, e9ed3540f and df4fc0fff 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.	5 years ago
Randy Mackay	5baed38266	AP_NavEKF3: reduce EK3_HRT_FILT max to 30	5 years ago
Paul Riseborough	5b1d9ed868	AP_NavEKF3: Add missing vertical position derivative calculation	5 years ago
Andrew Tridgell	c2067d5bc2	AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees ... GPS modules tend to be rather optimistic about their yaw accuracy. By setting a min or 5 degrees we prevent the user constantly getting warnings about yaw innovations	5 years ago
Andrew Tridgell	3995db49a4	AP_NavEKF3: use parent class for intermediate static variables ... this makes the code faster as well as using less memory when both EK2 and EK3 are enabled	5 years ago
Andrew Tridgell	0e3a27f74f	AP_NavEKF3: change optimisation from -O3 to -O2	5 years ago
Andrew Tridgell	96c6544997	AP_NavEKF3: moved intermediate variables to common memory ... this moves intermediate variables from being per-core to being common between cores. This saves memory on systems with more than one core by avoiding allocating this memory on every core. This is an alternative to #11717 which moves memory onto the stack. It doesn't save as much memory as #11717, but avoids creating large stack frames	5 years ago
Andrew Tridgell	05d62c62bb	AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion ... not all elements of H_MAG are initialised, but they are used, as found by valgrind	5 years ago
Andrew Tridgell	c6f43e9700	AP_NavEKF3: fixed use of old irqsave() API	5 years ago
Peter Barker	1c187d8feb	AP_NavEKF3: correct return of empty prearm string	5 years ago
Andrew Tridgell	fae2e44eac	AP_NavEKF3: reset inhibitMagStates on in-flight yaw reset ... this is needed to prevent the next ConstrainVariances() from zeroing the variances, which leads to very slow learning of mag states	6 years ago
Randy Mackay	0e1a2efb7c	EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder	6 years ago
Michael du Breuil	9a7d64e8fc	AP_NavEKF3: Allow the GPS to be responsible for logging	6 years ago
Peter Barker	7ea449076f	AP_NavEKF3: use timing logging from AP_NavEKF	6 years ago
Peter Barker	61ed6e07eb	AP_NavEKF3: shorten EKF3 initialisation send-text string ... Now: pbarker@bluebottle:~/rc/ardupilot(master)$ echo -n "EKF3 IMU1 buffers IMU=11 OBS=4 OF=10, dt=0.0120" | wc 0 7 47 pbarker@bluebottle:~/rc/ardupilot(master)$ Closes #11952	6 years ago
Andrew Tridgell	fc65e04ef2	AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE ... when on the ground without a position source we would disable the innovation gate for the barometer. This meant that a single (or small number of) really bad baro readings would be fused into the EKF, causing it to destabilise Fixes #11903	6 years ago
Andrew Tridgell	04944fa6ce	AP_NavEKF3: review fixes ... thanks Paul!	6 years ago
Andrew Tridgell	451fe840ee	AP_NavEKF3: ensure that EKF origin stays in sync on all cores ... 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
Andrew Tridgell	0fcb2037e1	AP_NavEKF3: use origin lat for earth rates ... home may not yet be set when this code is run, so using home may be invalid	6 years ago
Andrew Tridgell	a3411efdb5	AP_NavEKF3: set origin on all cores ... when EKF origin is set, make sure it is set on all cores	6 years ago
Andrew Tridgell	3818d8ecda	AP_NavEKF3: restrict setting of EKF origin ... only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is used for indoor operation	6 years ago
Siddharth Purohit	db9f7c3dd5	AP_NavEKF3: do logging for 3rd EKF core	6 years ago
priseborough	209a32b8b9	AP_NavEKF3: Fix bug in use of external 321 yaw to align	6 years ago
priseborough	122f214416	AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor	6 years ago