fe3b29a088
AP_NavEKF3: Allow checking all cores for health
6 years ago
0d3e1a7d23
AP_NavEKF3: flow use parameter improvements
6 years ago
d3e9281846
AP_NavEKF3: Update default plane optical flow param values
...
Reduce time required to form estimate of terrain offset
6 years ago
35c82ef67f
AP_NavEKF3: Improve optical flow height estimation
6 years ago
b848e231c7
AP_NavEKF3: Add parameter to control how optical flow data is used
6 years ago
3c432cf25c
AP_NavEKF3: add getQuaternionBodyToNED
6 years ago
17ee20af3f
AP_NavEKF3: rename dataflash to logger
6 years ago
f382a657bd
AP_NavEKF3: fixed typos
6 years ago
55377b234f
AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
8a6a39b590
AP_NavEKF3: unify singleton naming to _singleton and get_singleton()
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
25ef5fed82
AP_NavEKF3: Suppress clearing non-trival type warning
6 years ago
281fad53c2
AP_NavEKF3: always set EKF control limits, even with no cores
6 years ago
be9235a581
AP_NavEKF3: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
3d72022f6e
EKF: modify ALT_SOURCE param description
...
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
7 years ago
6bf5ffdb6d
AP_NavEKF3: use compass singleton for logging
7 years ago
901ba0034c
AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
a0d874baa2
AP_NavEKF3: const accessors
7 years ago
6791808ac6
AP_NavEKF3: remove unneeded initialisations
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AP_NavEKF3 should never be allocated in uninitialised memory
7 years ago
d38ff1dd2c
AP_NavEKF3: initialise EKF3 constants in declaration not constructor
7 years ago
55b8a2288e
AP_NavEKF3: use ins singleton
7 years ago
7b1a906c4e
AP_NavEKF3: use baro singleton
7 years ago
ea2a880d8a
AP_NavEKF3: allocate from MEM_FAST region
7 years ago
5dc714bf5f
AP_NavEKF3: use GPS singleton
7 years ago
2310cb6d19
AP_NavEKF3: Enable external control over use of GPS vertical velocity
8 years ago
c7f6d52065
AP_NavEKF3: Add wheel encoder odometry
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Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
8 years ago
593437ca95
AP_NavEKF3: Add tuning of visual odometry observation error
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Also adjust default values based on replay analysis.
8 years ago
0827b13feb
AP_NavEKF3: Fix default behaviour for height origin corrections
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Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
8 years ago
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
6a01c65197
AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)
8 years ago
49ec2b4032
AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK
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Turn off by default.
Update parameter description.
8 years ago
3ae7998f51
AP_NavEKF3: Allow reporting of origin height for specified instance
8 years ago
2b97d0f5c9
AP_NavEKF3: Add public accessor for state variances
8 years ago
9da3caca47
AP_NavEKF3: Improve GPS reference height estimator
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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.
8 years ago
d3a57b5965
AP_NavEKF3: Use SI units conventions in parameter units
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Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
a04aff7a7d
AP_NavEKF3: added inter-EKF scheduling cooperation
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this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.
It allows us to run EK3 and EK2 at the same time with good scheduling
performance
8 years ago
adb281cd4e
AP_NavEKF3: added timing statistics logging
8 years ago
b255c7b370
AP_NavEKF: add setOrigin
8 years ago
fb7104f4e3
AP_NavEKF3: add fusion method for body frame odometry data
8 years ago
248773a7c8
AP_NavEKF3: allow access to quaternion for each instance
8 years ago
18927395d7
AP_NavEKF3: log correct GPS for replay
8 years ago
a80c0a231d
AP_NavEKF3: attempt to set-up every core
...
previously we would only call setup_core for the 2nd core if the first had been setup successfully
8 years ago
1de198883d
AP_NavEKF3: Check gps vertical accuracy for aligning the GPS
8 years ago
23f959b92f
AP_NavEKF3: fix copied parameter descriptions
8 years ago
de7a679534
AP_NavEKF3: Enable simple heading fusion to be set for specific cores
8 years ago
4d958952f6
AP_NavEKF3: use standard unit descriptor for milliseconds
8 years ago
7e8f3fca53
AP_NavEKF3: Address review comments
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Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
8 years ago
59ee074560
AP_NavEKF3: Remove EKF2 names
8 years ago
Michael du Breuil
Paul Riseborough
Mark Whitehorn
Tom Pittenger
Arjun Vinod
Peter Barker
Randy Mackay
bugobliterator
priseborough
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Francisco Ferreira