EKF: cope better with GPS jamming#24899

Merged

tridge merged 19 commits intoArduPilot:masterfrom

tridge:pr-ekf-gps-check-fix

Jun 9, 2024

Commits on Jun 9, 2024

AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded

Paul Riseborough
authored and
tridge
committed
AP_NavEKF3: Use last observed wind states to enable dead reckoning

Paul Riseborough
authored and
tridge
committed
AP_NavEKF3: Strengthen protection against GPS jamming

Paul Riseborough
authored and
tridge
committed
Tools: re-work copter and plane loss of GPS auto tests

Paul Riseborough
authored and
tridge
committed
AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed

priseborough
authored and
tridge
committed
AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor

priseborough
authored and
tridge
committed
Tools: Allow dead reckoning test longer to learn wind if no aspd sensor

priseborough
authored and
tridge
committed
AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled

priseborough
authored and
tridge
committed
AP_NavEKF3: Fix bug causing in flight yaw align to not complete

priseborough
authored and
tridge
committed
AP_NavEKF3: Don't block no compass planes from running GPS alignment checks

priseborough
authored and
tridge
committed
AP_NavEKF3: Log gpsGoodToAlign

priseborough
authored and
tridge
committed
AP_NavEKF3: Rework GPS jamming resiliency

priseborough
authored and
tridge
committed
Tools: Use GPS jamming option in EKF dead reckoning autotests

priseborough
authored and
tridge
committed
AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning

priseborough
authored and
tridge
committed
Tools: Disable DCM fallback for plane dead reckoning tests

priseborough
authored and
tridge
committed
Tools: relax req accuracy for plane dead reckoning when not using airspeed

priseborough
authored and
tridge
committed
Tools: update AHRS_OPTIONS for dead reckoning test

priseborough
authored and
tridge
committed
autotest: enable LOG_REPLAY in deadreckoning test
tridge
committed
autotest: Reduce time threshold used in plane deadreckoning test

Paul Riseborough
authored and
tridge
committed

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EKF: cope better with GPS jamming#24899

EKF: cope better with GPS jamming#24899
tridge merged 19 commits intoArduPilot:masterfrom
tridge:pr-ekf-gps-check-fix

Commits on Jun 9, 2024

AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded

AP_NavEKF3: Use last observed wind states to enable dead reckoning

AP_NavEKF3: Strengthen protection against GPS jamming

Tools: re-work copter and plane loss of GPS auto tests

AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed

AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor

Tools: Allow dead reckoning test longer to learn wind if no aspd sensor

AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled

AP_NavEKF3: Fix bug causing in flight yaw align to not complete

AP_NavEKF3: Don't block no compass planes from running GPS alignment checks

AP_NavEKF3: Log gpsGoodToAlign

AP_NavEKF3: Rework GPS jamming resiliency

Tools: Use GPS jamming option in EKF dead reckoning autotests

AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning

Tools: Disable DCM fallback for plane dead reckoning tests

Tools: relax req accuracy for plane dead reckoning when not using airspeed

Tools: update AHRS_OPTIONS for dead reckoning test

autotest: enable LOG_REPLAY in deadreckoning test

autotest: Reduce time threshold used in plane deadreckoning test

EKF: cope better with GPS jamming#24899tridge merged 19 commits intoArduPilot:masterArduPilot/ardupilot:masterfrom tridge:pr-ekf-gps-check-fixtridge/ardupilot:pr-ekf-gps-check-fixCopy head branch name to clipboard

Commits

Commits on Jun 9, 2024

EKF: cope better with GPS jamming#24899
tridge merged 19 commits intoArduPilot:masterfrom
tridge:pr-ekf-gps-check-fix