If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
This commit includes an example program to
run the code of AP_Marvelmind class.
It also includes a dump from the marvelmind
serial as well as a script that injects
this dump into the example for demonstration.
priseborough
Pierre Kancir
Peter Barker
Randy Mackay
Shingo Matsuura
Paulo Neves
Michael du Breuil
Andrew Tridgell
Francisco Ferreira