5fa3ed5755
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
e3bdbcd8ea
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
ccc95d8726
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
795f412264
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
fc2118f42b
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
4 years ago
6b73c2151a
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
4 years ago
a8c6d742aa
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
4 years ago
885e518741
AP_NavEKF3: allow for double EKF build
4 years ago
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
4 years ago
de3c6d6e5c
AP_NavEKF3: Fade each vert vel variance clip count over 1 second
4 years ago
b7aad13cc8
AP_NavEKF3: Protect against collapse of velocity and position variances
4 years ago
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
4 years ago
dd3ab29b2f
AP_NavEKF3: remove getFilterGpsStatus
...
Not needed after we moved logging into NavEKF3
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
...
Saves 40 bytes of RAM per core on stm32
4 years ago
b9abef37c3
AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.
4 years ago
1018801522
AP_NavEKF3: White space and comment fixes
4 years ago
a07427fd30
AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight
4 years ago
4605870788
AP_NavEKF3: remove separate calls to get delta-times for vel and ang
4 years ago
246b80dc06
AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary
4 years ago
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
4 years ago
9a5a264aa0
AP_NavEKF3: Improve wind estimation without airspeed sensing
...
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
ddc4d08e8f
AP_NavEKF3: make drag fusion optional
4 years ago
1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
4 years ago
3582b69e9c
AP_NavEKF3: remove getFilterTimeouts access methods
4 years ago
b3bacdd33c
AP_NavEKF3: remove internal-only getTiltError method
4 years ago
5ad0ac6727
AP_NavEKF3: remove unused getAccelNED method
4 years ago
099d6aa72e
AP_NavEKF3: add filter reset when vehicle is idle for too long
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
6850b48ea1
AP_NavEKF3: add comments for yaw sensor variables
4 years ago
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
4 years ago
9cb529cfd6
AP_NavEKF3: minor formatting fix
...
also replace tab with spaces
4 years ago
908b348c31
AP_NavEKF3: Fix typo in enum label
4 years ago
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
4 years ago
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
4 years ago
8f32430294
AP_NavEKF3: Fix white spaces
4 years ago
4884476c09
AP_NavEKF3: Formatting and comment fixes
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
...
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
4 years ago
e972fb31b1
AP_NavEKF3: remove unused variables
4 years ago
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
4 years ago
2885026bba
AP_NavEKF3: move tasHealth to be a stack variable
4 years ago
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
4 years ago
2d25149e2e
AP_NavEKF3: move global state to be on the stack
4 years ago
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
4 years ago
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
Paul Riseborough
Peter Barker
Andrew Tridgell
Paul Riseborough
Josh Henderson
murata
Andy Piper
Randy Mackay