e19d638c0f
AP_NavEKF2: support higher optical flow updates rates
6 years ago
cc62998d40
AP_NavEKF2: fixed bug in EKF lane selection
...
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
6 years ago
7f639c1bb2
AP_NavEKF2: Allow checking all cores for failure
6 years ago
50e99b6e1a
AP_NavEKF2: use get_distance_NE instead of location_diff
6 years ago
3f5a6a243c
AP_NavEKF2: use get_distance instead of location_diff
6 years ago
8038efc152
AP_NavEKF2: Flow use parameter updates
6 years ago
e2148e7e2a
AP_NavEKF2: Update default plane optical flow param values
...
Reduce time required to form estimate of terrain offset
6 years ago
aa6eee82f4
AP_NavEKF2: Rework opt flow terrain height logic
6 years ago
67d20f3b3c
AP_NavEKF2: Update parameter description
6 years ago
1862512c2b
AP_NavEKF2: Use flow sensor for navigation with unknown platform type
...
This is the more common use case.
6 years ago
921205f61c
AP_NavEKF2: Minor amendments from review
6 years ago
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
...
Updated derivation using sequential fusion of Y and X axis data.
6 years ago
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
6 years ago
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
6 years ago
8506ae9c32
AP_NavEKF2: rename dataflash to logger
6 years ago
79ee52917f
AP_NavEKF2: replace location_offset() and get_distance() function calls with Location object member function calls
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This allows removing duplicated code
6 years ago
78b165e36f
AP_NavEKF2: fixed typos
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
b32e8a4424
AP_NavEKF2: 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
ccc1f906f8
AP_NavEKF2: fixed EKF compass switching
...
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
6 years ago
3766ee1b60
AP_NavEKF2: add external navigation data lag
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
ebd12b30e8
AP_NavEKF2: adjust for Location_Class and Location unification
6 years ago
9be604e3ce
AP_NavEKF2: adjust for location flags being moved out of union
6 years ago
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
49d20364cb
AP_NavEKF2: pass quaternion by const reference
6 years ago
8ea7df3efe
AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed
6 years ago
29db069c75
AP_NavEKF2: Suppress clearing non-trival type warning
6 years ago
1e56ad4837
AP_NavEKF2: add external nav system to POSNE_M_NSE description
6 years ago
08b9bf4a89
AP_NavEKF2: fix extNav position noise
6 years ago
805647df85
AP_NavEKF2: enable use of in-flight compass learning
6 years ago
1c1d651979
AP_NavEKF2: add space for null-termination
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This is simply to preserve existing behaviour when snprintf starts to
null-terminate strings
6 years ago
3a79ae4eca
AP_NavEKF2: use union to alias array and struct access to states
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This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on which
is deemed faster - not a good outcome.
6 years ago
fb176b544f
AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES
6 years ago
889190d46e
AP_NavEKF2: always set EKF control limits, even with no cores
6 years ago
3774aa6619
AP_NavEKF2: remove default clause in setAidingMode
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All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
6 years ago
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
6 years ago
d8aa8d2b71
AP_NavEKF2: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
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
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
7 years ago
59e087214f
AP_NavEKF2: spell in comments (NFC)
7 years ago
baa818a812
AP_NavEKF2: use compass singleton for logging
7 years ago
a9b2b9dddf
AP_NavEKF2: Delete unused definitions
7 years ago
1e011c0c15
AP_NavEKF2: Clarify the message
7 years ago
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
7 years ago
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
81044760c7
AP_NavEKF2: const accessors
7 years ago
Randy Mackay
Andrew Tridgell
Michael du Breuil
Pierre Kancir
Paul Riseborough
Mark Whitehorn
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
chobits
Peter Barker
chobitsfan
murata