Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

AP_NavEKF3: add source selection to allow switching between GPS and T265 #14803

Merged
merged 38 commits into from
Nov 20, 2020
Merged

AP_NavEKF3: add source selection to allow switching between GPS and T265 #14803

merged 38 commits into from
Nov 20, 2020

Commits on Nov 20, 2020

  1. AP_DAL: added methods to support EKF sources selection

    @tridge @rmackay9
    tridge authored and rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    fe786c4 View commit details
    Browse the repository at this point in the history

  2. AP_NavEKF_Source: enables dynamically changing sensor sources

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    42fd24f View commit details
    Browse the repository at this point in the history

  3. AP_NavEKF3: integrate Source for position

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    553b6f4 View commit details
    Browse the repository at this point in the history

  4. AP_NavEKF3: integrate Source for alt

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    d5b1693 View commit details
    Browse the repository at this point in the history

  5. AP_NavEKF3: integrate Source for yaw

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    d3a6588 View commit details
    Browse the repository at this point in the history

  6. AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    dea6ce2 View commit details
    Browse the repository at this point in the history

  7. AP_NavEKF3: optical flow fusion checks source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    c49a3fb View commit details
    Browse the repository at this point in the history

  8. AP_NavEKF3: beacon fusion checks source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    e522fda View commit details
    Browse the repository at this point in the history

  9. AP_NavEKF3: body and wheel odometry check source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    73d7cc7 View commit details
    Browse the repository at this point in the history

  10. AP_NavEKF3: add CalculateVelInnovationsAndVariances

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    2ce2429 View commit details
    Browse the repository at this point in the history

  11. AP_NavEKF3: always calculate extNav innovations and variances

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    e8706da View commit details
    Browse the repository at this point in the history

  12. AP_NavEKF3: always calculate GPS innovations and variances

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    fe437c6 View commit details
    Browse the repository at this point in the history

  13. AP_NavEKF3: add getVelInnovationsAndVariancesForSource

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    95a8bd5 View commit details
    Browse the repository at this point in the history

  14. AP_NavEKF3: call sources align inactive sources

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    60d6088 View commit details
    Browse the repository at this point in the history

  15. AP_NavEKF3: add convert_params for source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    be127d8 View commit details
    Browse the repository at this point in the history

  16. AP_NavEKF3: pre_arm_check includes sources

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    6d68f2a View commit details
    Browse the repository at this point in the history

  17. AP_NavEKF3: fixup for AP_DAL

    @tridge @rmackay9
    tridge authored and rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    6ea068d View commit details
    Browse the repository at this point in the history

  18. AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource 

    also integrate useVelZSource
    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    fcf637e View commit details
    Browse the repository at this point in the history

  19. AP_NavEKF3: minor indenting fix

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    e5f322f View commit details
    Browse the repository at this point in the history

  20. AP_NavEKF3: rename _sources to sources

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    eef36cc View commit details
    Browse the repository at this point in the history

  21. AP_NavEKF3: move sources to 2nd bank of parameters

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    7112636 View commit details
    Browse the repository at this point in the history

  22. AP_NavEKF3: update comments

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    bd6a381 View commit details
    Browse the repository at this point in the history

  23. AP_NavEKF3: use_compass minor order fixup

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    c93ba04 View commit details
    Browse the repository at this point in the history

  24. AP_NavEKF3: rename posxy_source_last and posxy_source_reset

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    b783fe6 View commit details
    Browse the repository at this point in the history

  25. AP_NavEKF3: rename setPosVelYawSourceSet

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    0322242 View commit details
    Browse the repository at this point in the history

  26. AP_AHRS: add set_posvelyaw_source_set

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    a29a020 View commit details
    Browse the repository at this point in the history

  27. AP_AHRS: add get_vel_innovations_and_variances_for_source

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    c3013c3 View commit details
    Browse the repository at this point in the history

  28. RC_Channel: add aux switch to change the EKF's sensor sources

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    276450e View commit details
    Browse the repository at this point in the history

  29. AP_VisualOdom: add align_position_to_ahrs

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    b932138 View commit details
    Browse the repository at this point in the history

  30. Tools: autotest for beacon sets EK3_SRC params

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    d1f83a6 View commit details
    Browse the repository at this point in the history

  31. AP_Scripting: add bindings for set_posvelyaw_source and get_vel_innov… 

    …ations
    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    b866416 View commit details
    Browse the repository at this point in the history

  32. AP_Scripting: ahrs-source example script 

    switches automatically between gps, external nav and optical flow
    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    13e5ab0 View commit details
    Browse the repository at this point in the history

  33. Tools: add test.Copter.GPSViconSwitching to CopterTests1d

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    342899b View commit details
    Browse the repository at this point in the history

  34. AP_NavEKF3: handle compass fallback in yaw source reset 

    if we get to this point we must be using the compass fallback logic,
and should do the reset
    @tridge @rmackay9
    tridge authored and rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    1b852a5 View commit details
    Browse the repository at this point in the history

  35. AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 

    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
    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    5eafc3d View commit details
    Browse the repository at this point in the history

  36. AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    2e4cdba View commit details
    Browse the repository at this point in the history

  37. AP_NavEKF_Source: add mark_configured_in_storage

    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    6566dd9 View commit details
    Browse the repository at this point in the history

  38. AP_NavEKF3: fixup source param conversion 

    shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
    @rmackay9
    rmackay9 committed Nov 20, 2020
    Configuration menu
    Copy the full SHA
    cb8830c View commit details
    Browse the repository at this point in the history