0cebde0632
AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set
...
this non-functional change slightly reduces the number of places we set these variables
4 years ago
ef505df78a
AP_NavEKF3: remove unused quat2Tbn method
4 years ago
0eafe4b662
AP_NavEKF3: remove dangling method declarations
4 years ago
83d784c22d
AP_NavEKF3: fix includes
4 years ago
3dc67f09fd
AP_NavEKF3: remove unused innovationIncrement and lastInnovation
4 years ago
eeb1a1846c
AP_NavEKF3: replace prearm_healthy with pre_arm_check
4 years ago
f5a04fd1a3
AP_NavEKF3: shorten buffer size send_text message length
4 years ago
7398529f6b
AP_NavEKF3: minor format fix
4 years ago
8a4b0f858a
AP_NavEKF3: reset body mag variances at key points
...
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
e9185f526b
AP_NavEKF3: add comments on state indexes
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make it easier to check indexes
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
2bc7d17e7a
AP_NavEKF3: improved core comparison to check alignment
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this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching
this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
4 years ago
c03c43e52c
AP_NavEKF3: use same mag switch pattern as EKF2
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based on Pauls suggested change
4 years ago
3836b59041
AP_NavEKF3: fixed handling of failed compass
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when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
4 years ago
458ade86f5
AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask
5 years ago
edc3709653
AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter
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this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
5 years ago
d7edc946b6
AP_NavEKF3: Relative Error based Lane-Switching
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Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
5 years ago
46a7e96c48
AP_NavEKF3: readRngBcnData avoids array overflow from beacon count
5 years ago
b314195f6e
AP_NavEKF3: minor spelling fix
5 years ago
b86e16e927
AP_NavEKF3: readRngBcnData gets minor formatting fix
5 years ago
384029d278
AP_NavEKF3: rngBcnDataNew made local
5 years ago
8c877f02af
AP_NavEKF3: shrink beacon arrays and add assert
5 years ago
d292ba028a
AP_NavEKF3: increase beacon buffer to imu + 1
5 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
056a2de260
AP_NavEKF3: wheelOdmDataNew member made local
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this variable is never used outside the writeWheelOdom method
5 years ago
3d5161f364
AP_NavEKF3: remove unused usingWheelSensors variable
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This variable was set but never consumed
5 years ago
c4b7a1c41a
AP_NavEKF3: flowDataToFuse moved to local variable
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This variable is never used outside the SelectFlowFusion() method
This variable is always updated at the top of the function meaning subsequent calls to the function will always overwrite its previous value
5 years ago
41acf555bf
AP_NavEKF3: fix skipping of optflow fusion if mag fusion performed
5 years ago
44d5a923cc
AP_NavEKF3: apply min GPS accuracy at measurement point
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this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
5 years ago
c722367c6c
AP_NavEKF3: move extNavVelNew to local variable
5 years ago
7ad9e3548f
AP_NavEKF3: make reset source variable local
5 years ago
6b701ae3b3
AP_NavEKF3: correct includes
5 years ago
4b8be2e535
AP_NavEKF3: fix comments
5 years ago
c8bbbd2720
AP_NavEKF3: Fix bug preventing setting of mag field states
5 years ago
d8f2d0cf8d
AP_NavEKF3: max delay includes visual odometry
5 years ago
564244ce9a
AP_NavEKF3: fix extnav vel reset
5 years ago
e35458cedf
AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz()
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
0dc598a6e1
AP_NavEKF3: Fix param description and comment
5 years ago
21ea5d5039
AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor
5 years ago
f86c2e1db6
AP_NavEKF3: Don't fuse EKF-GSF yaw for FW flight
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
d1a0c2eb30
AP_NavEKF3: Start EKF-GSF yaw estimator before fixed wing takeoff
5 years ago
b469a80633
AP_NavEKF3: Reset all co-variances when performing a yaw reset
5 years ago
d8c2096ad8
AP_NavEKF3: improve angle accuracy during no mag launch
5 years ago
f7c8ee807c
AP_NavEKF3: Reset yaw estimator bias states at start of flight
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Enables yaw bias to be learned when sitting stationary on ground.
5 years ago
Randy Mackay
Peter Barker
Andrew Tridgell
Harshit Kumar Sankhla
chobits
Paul Riseborough
Andy Piper
Paul Riseborough