6899767d28
AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference
9 years ago
242b9641c8
AP_NavEKF2: Fix in-air logic bug
9 years ago
e7de2d3ea3
AP_NavEKF: Update magnetic field learning options
...
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
9 years ago
495809f211
AP_NavEKF2: Allow magnetic field learning to be faster
9 years ago
84a02efd52
AP_NavEKF2: Improve efficiency of Z magnetometer fusion
9 years ago
35b08849f7
AP_NavEKF2: Reduce effect of rounding errors on covariance prediction
9 years ago
4e928bf294
AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements
9 years ago
71c399674a
AP_NavEKF2: Delay use of magnetic field states until off-ground
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Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
9 years ago
99c2dc41e0
AP_NavEKF2: Miscellaneous tuning changes
9 years ago
47ae0f35f6
AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
9 years ago
27393855f1
AP_NavEKF2: Change assumed gyro calibration accuracy
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If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
9 years ago
67a669fcdc
AP_NavEKF2: Correct comments for height measurement
9 years ago
0dc570b5a5
AP_NavEKF2: Improve optical flow takeoff detection logic
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Ensure takeoff detect status goes to false when on ground
9 years ago
d3a6690e4f
AP_NavEKF2: Fix bugs preventing use of optical flow navigation
9 years ago
52fd369b2f
AP_NavEKF2: Add methods to output and calculate vertical position derivative
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This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
9 years ago
2ae0811458
AP_NavEK2: fixed perf counter names for EKF2
9 years ago
35769035d4
AP_NavEKF2: resolve compiler warning related to init order
9 years ago
0c61e09b70
AP_NavEKF2: Critical big fix - states not initialised
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The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
9 years ago
e3013b493b
AP_NavEKF2: Critical bug fix - perf counter not initialised
9 years ago
20a3f9782e
AP_NavEKF2: Add full set of selectable pre-flight GPS checks
9 years ago
db4dfce7b1
AP_NavEKF2: Add fix status to GPS check report message
9 years ago
22920aafad
AP_NavEKF2: Improve GPS status reporting
9 years ago
1cb2220107
AP_NavEKF2: Critical Bugfix
9 years ago
f467a89fa3
AP_NavEKF2: Update comments for filter status output function
9 years ago
b142cc7fd2
AP_NavEKF2: Rename files and re-distribute content
9 years ago
1ce3276d74
AP_NavEKF2: split EKF control and output get functions from state specific libs
9 years ago
2e388fb2f9
AP_NavEKF2: split otp flow from PosVelNED
9 years ago
290ea0e1e8
AP_NavEKF2: split up EKF_core into different files
9 years ago
cde140354a
AP_NavEKF2: Clean up control logic
9 years ago
f4db78fc11
AP_NavEKF2: Allow for larger gyro bias errors
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MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
9 years ago
325f4139fe
AP_NavEKF2: Clean up mode change logic
9 years ago
ef624199f9
AP_NavEKF2: Enable GPS velocity fusion to be inhibited
9 years ago
53e58f1075
AP_NavEKF2: Update default parameters
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Updates from preliminary tuning in Replay
10 years ago
2fb72b6e6a
AP_NavEKF2: Clean up loss of GPS logic
10 years ago
df0eb9d9d7
AP_NavEKF2: Don't run GPS checks when not required
10 years ago
1986af021f
AP_NavEKF2: Remove un-used flight mode and duplicate variable
10 years ago
7230472516
AP_NavEKF2: Adjust parameter defaults
10 years ago
8bcedb228b
AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1
10 years ago
015f700bc0
AP_NavEKF2: getLastYawResetAngle returns last reset time
10 years ago
80e182f827
AP_NavEKF2: Update EKF2 data logging
10 years ago
4acd6c129a
AP_NavEKF2: Update parameters
10 years ago
9c5e48e7e9
AP_NavEKF2: Remove unused variables and improve variable names
10 years ago
4a7714e15d
AP_NavEKF2: Remove unused parameters and improve naming consistency
10 years ago
8afb26087d
AP_NavEKF2: Remove unused function
10 years ago
fe76662faf
AP_NavEKF2: added set_enable() API
10 years ago
f270573acc
AP_NavEKF2: Use library functions for quaternion corrections
10 years ago
cbc62238a9
AP_NavEKF2: run astyle for reformatting
10 years ago
760dafbb9d
AP_NavEKF2: added enabled() function
10 years ago
b4555f30a5
AP_NavEKF2: added frontend calls to core code
10 years ago
3ac75aeffb
AP_NavEKF2: added EK2_ENABLE parameter
10 years ago
Paul Riseborough
Andrew Tridgell
Randy Mackay
Siddharth Bharat Purohit