ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	ce0a863d01	AP_NavEKF: allow for optimisation of the EKF disable optimisation when debugging needed	10 years ago
Paul Riseborough	be04be9b43	AP_NavEKF: Fix bug preventing home position being set by copter The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement. This enables this function to be used to set a home position before flight.	10 years ago
Randy Mackay	fb7e75594f	AP_NavEKF: replace memset with quaternion.initialise	10 years ago
Randy Mackay	c366fbbc96	AP_NavEKF: remove unused haveDeltaAngles	10 years ago
Paul Riseborough	b71b8f4bda	AP_NavEKF: Always return a NED relative position if possible If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.	10 years ago
Paul Riseborough	20ba1e6b1b	AP_NavEKF: Always return a WGS-84 location if possible If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.	10 years ago
Paul Riseborough	dd1e0b2f0b	AP_NavEKF: Add missing function to return the NED to XYZ quaternion	10 years ago
Paul Riseborough	2c4572eb50	AP_NavEKF: Make ground effect variable names more descriptive	10 years ago
Paul Riseborough	3986851c51	AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error. This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.	10 years ago
Paul Riseborough	2cba60c731	AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain	10 years ago
Paul Riseborough	c4c0f819b5	AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step	10 years ago
Paul Riseborough	5dc29699ab	AP_NavEKF: Publish the INS delta quaternion	10 years ago
Paul Riseborough	d273302ce7	AP_NavEKF: Improve rate of accel bias learning before flight	10 years ago
Paul Riseborough	8dc6354a54	AP_NavEKF: Prevent touchdown baro errors tripping height innovation check Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits. Resetting the vertical position state to the measured height after disarming prevents this.	10 years ago
Jonathan Challinger	2f38dd1b67	AP_NavEKF: use quaternion functions to apply IMU delta angles	10 years ago
Jonathan Challinger	9c374eb4a8	AP_NavEKF: apply constrained floor to barometer innovation while landing	10 years ago
Jonathan Challinger	3c6446fadd	AP_NavEKF: refactor meaHgtAtTakeOff filter	10 years ago
Paul Riseborough	744de74c16	AP_NavEKF: Reduce ground effect baro induced height errors during takeoff	10 years ago
Paul Riseborough	13616d6436	AP_NavEKF: Add takeoff and touchdown expected to reported filter status	10 years ago
Jonathan Challinger	8c92524b8a	AP_NavEKF: add takeoffExpected and touchdownExpected	10 years ago
Jonathan Challinger	b6b55bf6f2	AP_NavEKF: integrate gravity over correct time period	10 years ago
Jonathan Challinger	cb0c424da1	AP_NavEKF: rewrite readIMUData	10 years ago
Andrew Tridgell	514c349060	AP_NavEKF: raise DCM error_rp threshold to 0.05 it was failing on many boards with fixed wing	10 years ago
Randy Mackay	fdf226ebc1	AP_NavEKF: include AP_RangeFinder.h	10 years ago
Tom Pittenger	a340d13d01	NavEKF: fix compile warning re member init order	10 years ago
Tom Pittenger	d6b34209b5	NavEKF: fix compile warnings re float constants	10 years ago
Randy Mackay	b05bdd657d	AP_NavEKF: getHeightControlLimit modifies height on success	10 years ago
Paul Riseborough	cf04600710	AP_NavEKF: Add public function to limit height control during OF nav	10 years ago
Paul Riseborough	68b225de4d	AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height	10 years ago
Paul Riseborough	c2e6fdb56c	AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.	10 years ago
Paul Riseborough	fd7fdc1ad9	AP_NavEKF: Remove unnecessary state resets on arm and disarm Resetting states unnecessarily creates transients due to presence of bias errors	10 years ago
Paul Riseborough	3e67080002	AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias	10 years ago
Paul Riseborough	e48171ab11	AP_NavEKF: Improve takeoff with optical flow and range data loss Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.	10 years ago
Paul Riseborough	3e061b174e	AP_NavEKF: Report unhealthy for all filter faults	10 years ago
Paul Riseborough	6c4c54c2ba	AP_NavEKF: Use default on ground range parameter from range finder object	10 years ago
Jonathan Challinger	10476333d8	AP_NavEKF: don't run when previously disarmed and time has slipped	10 years ago
Jonathan Challinger	085faaac6a	AP_NavEKF: fix delay detection so that filter properly resets after a delay	10 years ago
Paul Riseborough	1c8e3f9444	AP_NavEKF: Allow EKF to pull data from range finder object	10 years ago
Paul Riseborough	4a5bf0a266	AP_NavEKF: Reduce EKF start time Makes EKF start conditional on DCM solution tilt error	10 years ago
Arthur Benemann	e59c6ddbae	AP_SmallEKF: increase start-up time of the SmallEKF	10 years ago
Arthur Benemann	4ad3e786a5	AP_NavEKF: fix initialization of the SmallEKF The constructor 'states' variable was not being called. To make sure other variables where also zeroed now	10 years ago
Arthur Benemann	1d9beed42f	AP_SmallEKF: add function to report if the EKF is stable	10 years ago
Arthur Benemann	7b28bf7d44	AP_NavEKF: Remove small EKF dependency on navigation EKF	10 years ago
Andrew Tridgell	4586de6637	AP_NavEKF: enable optimisation in Linux build only really need debugging for SITL	10 years ago
Paul Riseborough	dffa2e19bf	AP_NavEKF: Make copter glitch accel consistent with timeout and radius	10 years ago
Paul Riseborough	5d70854c08	AP_NavEKF: Fix minor bug in calculation of innovation variance the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.	10 years ago
Paul Riseborough	1008c6390c	AP_NavEKF: Fail absolute position status if GPS repeatedly rejected	10 years ago
Paul Riseborough	77d3798278	AP_NavEKF: Reduce recovery time after a GPS fusion timeout	10 years ago
Paul Riseborough	0852aeab6e	AP_NavEKF: Allow raw innovations to be monitored during timeouts	10 years ago
Paul Riseborough	d3f4b4a02b	AP_NavEKF: Fix name consistency for data check time stamps	10 years ago

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519 Commits (2559964f0468f050d43894dd34c2175d9a216931)