3e21ef1389
AP_NavEKF3: add prearm failure message for null core pointer
5 years ago
63309c6925
AP_NavEKF3: suppress ekf fail-to-set-origin if core disabled
5 years ago
54f8e1137e
AP_NavEKF3: added EK3_MAG_EF_LIM parameter
...
Adapted from EKF2 implementation as of commits
3835d2613e9ed3540fdf4fc0fff
5 years ago
5baed38266
AP_NavEKF3: reduce EK3_HRT_FILT max to 30
5 years ago
5b1d9ed868
AP_NavEKF3: Add missing vertical position derivative calculation
5 years ago
3995db49a4
AP_NavEKF3: use parent class for intermediate static variables
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this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
5 years ago
96c6544997
AP_NavEKF3: moved intermediate variables to common memory
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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
9a7d64e8fc
AP_NavEKF3: Allow the GPS to be responsible for logging
5 years ago
04944fa6ce
AP_NavEKF3: review fixes
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thanks Paul!
6 years ago
a3411efdb5
AP_NavEKF3: set origin on all cores
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when EKF origin is set, make sure it is set on all cores
6 years ago
3818d8ecda
AP_NavEKF3: restrict setting of EKF origin
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only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
6 years ago
0c4f92d4c1
AP_NavEKF3: Add control logic to use external yaw sensor
6 years ago
87c7649d09
AP_NavEKF3: Add interface for yaw angle measurements
6 years ago
5151416080
AP_NavEKF3: force first EKF lane when disarmed
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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
be74b631fe
AP_NavEKF3: Fix AP_GPS.h include
6 years ago
60831c2878
AP_NavEKF3: added checkLaneSwitch()
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this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
6 years ago
e4f6ffe719
AP_NavEKF3: fixed bug in EKF lane selection
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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
0d3e1a7d23
AP_NavEKF3: flow use parameter improvements
6 years ago
d3e9281846
AP_NavEKF3: Update default plane optical flow param values
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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
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
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
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
25ef5fed82
AP_NavEKF3: Suppress clearing non-trival type warning
6 years ago
281fad53c2
AP_NavEKF3: always set EKF control limits, even with no cores
6 years ago
be9235a581
AP_NavEKF3: fix writeOptFlowMeas signature
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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
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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
6bf5ffdb6d
AP_NavEKF3: use compass singleton for logging
7 years ago
901ba0034c
AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
a0d874baa2
AP_NavEKF3: const accessors
7 years ago
6791808ac6
AP_NavEKF3: remove unneeded initialisations
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AP_NavEKF3 should never be allocated in uninitialised memory
7 years ago
d38ff1dd2c
AP_NavEKF3: initialise EKF3 constants in declaration not constructor
7 years ago
55b8a2288e
AP_NavEKF3: use ins singleton
7 years ago
7b1a906c4e
AP_NavEKF3: use baro singleton
7 years ago
ea2a880d8a
AP_NavEKF3: allocate from MEM_FAST region
7 years ago
5dc714bf5f
AP_NavEKF3: use GPS singleton
7 years ago
2310cb6d19
AP_NavEKF3: Enable external control over use of GPS vertical velocity
8 years ago
c7f6d52065
AP_NavEKF3: Add wheel encoder odometry
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Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
8 years ago
593437ca95
AP_NavEKF3: Add tuning of visual odometry observation error
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Also adjust default values based on replay analysis.
8 years ago
0827b13feb
AP_NavEKF3: Fix default behaviour for height origin corrections
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Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
8 years ago
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
6a01c65197
AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)
8 years ago
49ec2b4032
AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK
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Turn off by default.
Update parameter description.
8 years ago
Mark Whitehorn
Randy Mackay
Jaaaky
Paul Riseborough
Andrew Tridgell
Michael du Breuil
priseborough
Tom Pittenger
Arjun Vinod
Peter Barker
bugobliterator
Dr.-Ing. Amilcar Do Carmo Lucas