Tree: 75333dcd2f

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

194 Commits (75333dcd2f68fae17657aaed4c7beb31f32efa1d)

Author	SHA1	Message	Date
Peter Barker	d600b87454	AP_NavEKF2: make logging a core concern	4 years ago
Peter Barker	fc7e7dcee4	AP_NavEKF2: remove unused variables	4 years ago
Peter Barker	addd57dcab	AP_NavEKF2: move badMagYaw onto stack	4 years ago
Peter Barker	0aa10d8281	AP_NavEKF2: move tasHealth to be a stack variable	4 years ago
Peter Barker	3a98d51427	AP_NavEKF2: move posvel fusion health booleans to be on the stack	4 years ago
Peter Barker	400ba7a9df	AP_NavEKF2: move global state to be on the stack	4 years ago
Andrew Tridgell	7313e9eb0f	AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options ... these were unused	4 years ago
Andrew Tridgell	39ba8a8c83	AP_NavEKF2: convert to using common buffer classes ... this saves a considerable amount of flash	4 years ago
Andrew Tridgell	16f7e51ea5	AP_NavEKF2: fixed use of pointers in ringbuffers ... these don't work with AP_DAL	4 years ago
Andrew Tridgell	5f0e943f0f	AP_NavEKF2: use dal reference in EKF backends ... saves a bit of flash space	4 years ago
Andrew Tridgell	6be3d19e82	AP_NavEKF2: convert to use AP_DAL for new replay structure ... Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>	4 years ago
Peter Barker	0496ecc4f6	AP_NavEKF2: remove unused state variables	4 years ago
Peter Barker	53305ba2a4	AP_NavEKF2: remove unused quat2Tbn method	4 years ago
Peter Barker	312cf725aa	AP_NavEKF2: remove dangling method declarations	4 years ago
Peter Barker	80f9ef7ed1	AP_NavEKF2: remove unused innovationIncrement and lastInnovation	4 years ago
Andrew Tridgell	35e95d3328	AP_NavEKF2: reset body mag variances at key points ... reset on sensor switch or when changing to 3D fusion	4 years ago
Andrew Tridgell	067001bd61	AP_NavEKF2: take into account alignment when comparing cores ... ensure we don't switch to a lane that does not have yaw or tilt alignment from a lane that is aligned	4 years ago
Andrew Tridgell	6b9e595602	AP_NavEKF2: fixed handling of failed compass ... when a compass goes unhealthy due to sensor failure we should try another compass after 10s if another compass is available	4 years ago
Peter Barker	032b7c81e5	AP_NavEKF2: correct includes	5 years ago
Peter Barker	081c0bbfe0	AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods	5 years ago
Randy Mackay	a8c2be26ba	AP_NavEKF2: remove unused terrainHgtStableSet_ms	5 years ago
Paul Riseborough	502b96f49c	AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor	5 years ago
Pierre Kancir	9bbd2b19c2	AP_NavEKF2: add --debug-ekf to debug the EKF	5 years ago
Randy Mackay	6c10655059	AP_NavEKF2: accept extnav at up to 50hz	5 years ago
chobits	dee095b4a4	AP_NavEKF2: support VISION_SPEED_ESTIMATE	5 years ago
Paul Riseborough	af19fea268	AP_NavEKF2: Fix 3-axis mag fusion per axis error handling ... Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.	5 years ago
Randy Mackay	f26a2a47b4	AP_NavEKF2: writeExtNavData accepts delay	5 years ago
Randy Mackay	6e93f54cff	AP_NavEKF2: handle external nav position resets	5 years ago
Randy Mackay	43c9e13372	AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV ... presumably EV stands for ExternalVision but we normally refer to this source as External Nav	5 years ago
Randy Mackay	014c889ceb	AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms	5 years ago
Randy Mackay	3b20623a31	AP_NavEKF2: remove unused ext nav elements	5 years ago
Randy Mackay	4d7e7a960a	AP_NavEKF2: more white space fixes	5 years ago
Randy Mackay	a9cbd5aa29	AP_NavEKF2: getDataEKFGSF and getYawData pass by reference	5 years ago
Randy Mackay	d61c517e76	AP_NavEKF2: minor format fix	5 years ago
Paul Riseborough	abc821ad36	AP_NavEKF2: Split GSF yaw estimator processing ... Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()	5 years ago
Paul Riseborough	0d965d2a1c	AP_NavEKF2: Fix timer wrapping bugs ... Also replaces tab characters	5 years ago
Paul Riseborough	de0040ad69	AP_NavEKF2: Enable use of EKF-GSF yaw estimate ... Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing. AP_NavEKF2: Add missing accesor functions for default airspeed	5 years ago
Randy Mackay	35dcb0d752	AP_NavEKF2: CorrectExtNavForSensorOffset made const	5 years ago
Randy Mackay	85704e4989	AP_NavEKF2: CorrectGPSForAntennaOffset made const ... also reduce scope of call to slightly reduce CPU load	5 years ago
Randy Mackay	8749f30c64	AP_NavEKF2: external nav pos offsets from AP_VisualOdom library	5 years ago
Andrew Tridgell	9030590a88	AP_NavEKF2: fixed use of antenna position when switching GPS primary ... when GPS primary switches we were using a position which had not been corrected for antenna offset. This was used for calculating the reset for sensor change. This fixes that (trivial fix) and also fixes a similar issue on position reset	5 years ago
Peter Barker	060c851709	AP_NavEKF2: make send_status_report const	5 years ago
Paul Riseborough	c26c6fd078	AP_NavEKF2: Add missing vertical position derivative calculation ... Use a third order order complementary filter to estimate the rate of change of vertical position output.	5 years ago
Andrew Tridgell	f7e138bddd	AP_NavEKF2: use parent class for intermediate static variables ... this makes the code faster as well as using less memory when both EK2 and EK3 are enabled	5 years ago
Andrew Tridgell	163efd0df5	AP_NavEKF2: change optimisation from -O3 to -O2	5 years ago
Andrew Tridgell	9226899c6f	AP_NavEKF2: added comment (review request)	5 years ago
Andrew Tridgell	255981c60c	AP_NavEKF2: moved some of the intermediate vars to the stack ... this keeps stack frames below 1k, while giving faster access to the variables and saving more memory	5 years ago
Andrew Tridgell	0041874826	AP_NavEKF2: moved intermediate variables to common memory ... this moves intermediate variables from being per-core to being common between cores. This saves memory on systems with more than one core by avoiding allocating this memory on every core. This is an alternative to #11717 which moves memory onto the stack. It doesn't save as much memory as #11717, but avoids creating large stack frames	5 years ago
hoangthien94	fc9ff2b09a	AP_NavEKF2: add method to check if ext nav is used for yaw	6 years ago
Andrew Tridgell	c57b25b4c9	AP_NavEKF2: ensure that EKF origin stays in sync on all cores ... this prevents the EKF origin on different cores from being initialised to different values. A common value is stored in the frontend and used by a core if it doesn't have an origin	6 years ago