d6348a0786
AP_NavEKF3: remove getBodyFrameOdomDebug
...
Not used after we moved logging to be within AP_NavEKF3
4 years ago
dd3ab29b2f
AP_NavEKF3: remove getFilterGpsStatus
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Not needed after we moved logging into NavEKF3
4 years ago
cd5b764fd8
AP_NavEKF3: use first usable compass index to set magSelectIndex
4 years ago
a5a25411da
AP_NavEKF3: Remove unnecessary baro limiting
4 years ago
124f016e5b
AP_NavEKF3: Use parameter to set baro ground effect dead-zone
4 years ago
76d0dcc25c
AP_NavEKF3: Use common method for handling baro ground effect
4 years ago
dc9435a88d
AP_NavEKF3: don't limit baro change when we are in fixed wing mode
4 years ago
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
4 years ago
15658362b5
AP_NavEKF3: make time-horizon OF data a local variable
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Saves 40 bytes of RAM per core on stm32
4 years ago
02f6ca51bc
AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero
4 years ago
9014afc9d4
AP_NavEKF3: Fix typo in comment
4 years ago
b9abef37c3
AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.
4 years ago
f4591faeed
AP_NavEKF3: simplify taking of GPS measurements
4 years ago
1018801522
AP_NavEKF3: White space and comment fixes
4 years ago
7113387d27
AP_NavEKF3: Use better defined data type
4 years ago
ac87cab6bc
AP_NavEKF3: constify array index variable
4 years ago
1498b516a3
AP_NavEKF3: Don't try to learn gyro biases that are poorly observable
4 years ago
44be7161c0
AP_NavEKF3: Reduce yaw drift when operating without external aiding
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Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
4 years ago
53c4b163ce
AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity
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Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
4 years ago
e7b08c1ffc
AP_NavEKF3: Update log message format description
4 years ago
918606e71d
AP_NavEKF3: Don't use fake measurements to learn dvel bias
4 years ago
c709ad9c80
AP_NavEKF3: Add missing axis specific dvel bias update inhibit
4 years ago
073e273732
AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed
4 years ago
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
4 years ago
4b1c334bba
AP_NavEKF3: improve stability of co-variance matrix processing
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This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
4 years ago
c5b1c832ba
AP_NavEKF3: Change misnomer (NFC)
4 years ago
4605870788
AP_NavEKF3: remove separate calls to get delta-times for vel and ang
4 years ago
e3eea0a54a
AP_NavEKF3: Use specialised function for in-flight plane yaw alignment
4 years ago
4675aea0bf
AP_NavEKF3: Update parameter description
4 years ago
246b80dc06
AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary
4 years ago
a50be71b41
AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity
4 years ago
6a603019d5
AP_NavEKF3: Add accessor function for yaw alignment status
4 years ago
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
4 years ago
912db3512e
AP_NavEKF3: Fix EKF selection bug
4 years ago
85c0040fa3
AP_NavEKF3: Improve inFlight detection for fixed wing
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Better handle case where no airspeed sensor is being used with a hand launch.
4 years ago
295c1e1308
AP_NavEKF3: Reset covariances when falling back to non aiding mode
4 years ago
adae7365e1
AP_NavEKF3: Fix LLH reporting bug
4 years ago
ddadc45854
AP_NavEKF3: Reset states when falling back into non aiding mode.
4 years ago
b92eca7b66
AP_NavEKF3: Select startup aiding mode after landing without yaw sensor
4 years ago
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
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Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
4 years ago
ae565aef1a
AP_NavEKF3: Change misnomer (NFC)
4 years ago
8173cd442a
AP_NavEKF3 log position offset as float in meters
4 years ago
0971ef55a4
AP_NavEKF3: Fix bug preventing EKFGSF running when needed for reset
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The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
4 years ago
65b780fad5
AP_NavEKF3: move GSF logging from EKF files into GSF files
4 years ago
3b0dac3198
AP_NavEKF3: Simplify boolean expression
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
342e6b35fa
AP_NavEKF3: Fix use of incorrect ballistic coefficient parameter
4 years ago
7370cd9f00
AP_NavEKF3: Fix typo and update parameter description
4 years ago
1814524fcb
AP_NavEKF3: fix using_external_yaw when using external nav
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the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
4 years ago
f6cb0819ef
AP_NavEKF3: pre_arm_check may skip position checks
4 years ago
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
4 years ago
Peter Barker
Siddharth Purohit
Paul Riseborough
Andrew Tridgell
Randy Mackay
Paul Riseborough
priseborough
murata
Iampete1
Patrick José Pereira