ardupilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	72dc998509	AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning	4 years ago
Paul Riseborough	0f2661c31c	AP_NavEKF3: Retune IMU process noise Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.	4 years ago
Paul Riseborough	171eed5d85	AP_NavEKF3: Make gyro bias learning less noisy	4 years ago
Paul Riseborough	ce4d13091a	AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight	4 years ago
Paul Riseborough	6242ce19fa	AP_NavEKF3: Change powf(x,2) to sq(x)	4 years ago
Paul Riseborough	bb9eed28a9	AP_NavEKF3: Update covariance prediction equations	4 years ago
Paul Riseborough	7b8e935880	AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation	4 years ago
Peter Barker	795f412264	AP_NavEKF3: pass NavEKF failures back up to callers	4 years ago
Andrew Tridgell	fc2118f42b	AP_NavEKF3: process GPS yaw independently of GPS fix this processes GPS yaw with its own timestamp and as a separated step from fusing position and velocity. This makes the yaw time handling more accurate as yaw for moving baseline GPS comes in as a separate piece of data from the position and velocity	4 years ago
Andrew Tridgell	0b9cde5812	AP_NavEKF3: fixed indentation in readGpsData()	4 years ago
Peter Barker	a4410a4b2e	AP_NavEKF3: log EKF data source set in XKFS	4 years ago
Andrew Tridgell	6b73c2151a	AP_NavEKF3: implement moving origin this shifts EKF_origin to the current location at 1Hz, while leaving public_origin alone. All output APIs and logging are relative to public_origin. The effect of this change is to remove the distortion caused by a spherical earth, which allows the EKF to operate without errors at very long distances from the public_origin.	4 years ago
Andrew Tridgell	98fb4fcbe7	AP_NavEKF3: convert code_gen.py to ftype	4 years ago
Andrew Tridgell	44f098c86d	AP_NavEKF3: convert powF(xx,2) calls to sq(xx)	4 years ago
Andrew Tridgell	ae8dbe36bb	AP_NavEKF3: convert EKF3 derivation to ftype	4 years ago
Andrew Tridgell	5319e3910f	AP_NavEKF3: moved checkUpdateEarthField to be called less often	4 years ago
Andrew Tridgell	a8c6d742aa	AP_NavEKF3: update earth field at 1Hz this prevents large mag errors on long distance flights	4 years ago
Andrew Tridgell	885e518741	AP_NavEKF3: allow for double EKF build	4 years ago
Randy Mackay	4fde26aa01	AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ	4 years ago
Paul Riseborough	1281033931	AP_NavEKF3: Remove unused class variable rngBcnTimeout	4 years ago
Paul Riseborough	9d85a4292e	AP_NavEKF3: Ensure postion timeout flag and timer is always reset	4 years ago
Paul Riseborough	de3c6d6e5c	AP_NavEKF3: Fade each vert vel variance clip count over 1 second	4 years ago
Paul Riseborough	ac92182153	AP_NavEKF3: Clean up initialisation of boolean array	4 years ago
Paul Riseborough	b0763f04f1	AP_NavEKF3: Remove unwanted line	4 years ago
Paul Riseborough	b7aad13cc8	AP_NavEKF3: Protect against collapse of velocity and position variances	4 years ago
Paul Riseborough	36160ba9ce	AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata	4 years ago
Paul Riseborough	5d00b7d042	AP_NavEKF3: Fix bug preventing height reset if badIMUdata	4 years ago
Paul Riseborough	e4eb8339d0	AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata	4 years ago
Josh Henderson	64dc3bbe41	AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying	4 years ago
Josh Henderson	0ae3730f11	AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync ekf3	4 years ago
Peter Barker	d6348a0786	AP_NavEKF3: remove getBodyFrameOdomDebug Not used after we moved logging to be within AP_NavEKF3	4 years ago
Peter Barker	dd3ab29b2f	AP_NavEKF3: remove getFilterGpsStatus Not needed after we moved logging into NavEKF3	4 years ago
Siddharth Purohit	cd5b764fd8	AP_NavEKF3: use first usable compass index to set magSelectIndex	4 years ago
Paul Riseborough	a5a25411da	AP_NavEKF3: Remove unnecessary baro limiting	4 years ago
Paul Riseborough	124f016e5b	AP_NavEKF3: Use parameter to set baro ground effect dead-zone	4 years ago
Paul Riseborough	76d0dcc25c	AP_NavEKF3: Use common method for handling baro ground effect	4 years ago
Andrew Tridgell	dc9435a88d	AP_NavEKF3: don't limit baro change when we are in fixed wing mode	4 years ago
Peter Barker	c00f110f3d	AP_NavEKF3: use DAL APIs for takeoff/touchdown expected	4 years ago
Peter Barker	15658362b5	AP_NavEKF3: make time-horizon OF data a local variable Saves 40 bytes of RAM per core on stm32	4 years ago
Randy Mackay	02f6ca51bc	AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero	4 years ago
Paul Riseborough	9014afc9d4	AP_NavEKF3: Fix typo in comment	4 years ago
Paul Riseborough	b9abef37c3	AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.	4 years ago
Peter Barker	f4591faeed	AP_NavEKF3: simplify taking of GPS measurements	4 years ago
Paul Riseborough	1018801522	AP_NavEKF3: White space and comment fixes	4 years ago
Paul Riseborough	7113387d27	AP_NavEKF3: Use better defined data type	4 years ago
Paul Riseborough	ac87cab6bc	AP_NavEKF3: constify array index variable	4 years ago
Paul Riseborough	1498b516a3	AP_NavEKF3: Don't try to learn gyro biases that are poorly observable	4 years ago
Paul Riseborough	44be7161c0	AP_NavEKF3: Reduce yaw drift when operating without external aiding Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.	4 years ago
Paul Riseborough	53c4b163ce	AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity Also re-tune default sensitivity based on user supplied logs with noisy gyro data.	4 years ago
Paul Riseborough	e7b08c1ffc	AP_NavEKF3: Update log message format description	4 years ago

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632 Commits (2205b95c998e99e6bed09810110bf564564d8953)