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Commit Graph

215 Commits (ed434ce9e4e28fbc06640ad61056351470a2f6c5)

Author	SHA1	Message	Date
Randy Mackay	8adddcc8b8	AP_NavEKF3: initialise pre-arm failure message	5 years ago
Mark Whitehorn	3de365626d	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	5 years ago
Randy Mackay	0e1a2efb7c	EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder	5 years ago
Michael du Breuil	9a7d64e8fc	AP_NavEKF3: Allow the GPS to be responsible for logging	5 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
Andrew Tridgell	b56914b879	AP_NavEKF3: use GPS yaw if available and enabled ... this allows a suitable GPS to be used as an external yaw source	6 years ago
priseborough	0c4f92d4c1	AP_NavEKF3: Add control logic to use external yaw sensor	6 years ago
priseborough	71d358803a	AP_NavEKF3: Fix yaw sensor alignment status reporting	6 years ago
priseborough	977a7b68ed	AP_NavEKF3: Add push to buffer for external yaw sensor data	6 years ago
priseborough	0a971c5181	AP_NavEKF3: Add function to reset yaw to external measurement	6 years ago
Andrew Tridgell	62575a194c	AP_NavEKF3: Add data buffers for yaw sensor	6 years ago
priseborough	87c7649d09	AP_NavEKF3: Add interface for yaw angle measurements	6 years ago
Andrew Tridgell	634db441f8	AP_NavEKF3: origin handling fixes from Francisco	6 years ago
Andrew Tridgell	92783bccfa	AP_NavEKF3: don't allow height datum reset when not on ground	6 years ago
Andrew Tridgell	3f9e48951b	AP_NavEKF3: set terrainState to zero on height datum reset	6 years ago
Andrew Tridgell	f3fc910abe	AP_NavEKF3: continuously update gpsGoodToAlign ... use it to determine how to handle a height datum reset	6 years ago
Andrew Tridgell	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
Andrew Tridgell	2208689893	AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection	6 years ago
Andrew Tridgell	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
Peter Barker	ce45baa034	AP_NavEKF3: factor out and logging functions, reuse for 2nd core	6 years ago
Peter Barker	f3f364de26	AP_NavEKF3: move logging in from AP_Logger	6 years ago
Andrew Tridgell	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
Peter Barker	ef2589738d	AP_NavEKF3: use beacon singleton	6 years ago
Michael du Breuil	b624f6f008	AP_NavEKF3: Reduce scope of AP_Baro.h	6 years ago
Michael du Breuil	be74b631fe	AP_NavEKF3: Fix AP_GPS.h include	6 years ago
Andrew Tridgell	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
Peter Barker	dce472745e	AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed	6 years ago