ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	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
Andrew Tridgell	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
Andrew Tridgell	44f098c86d	AP_NavEKF3: convert powF(xx,2) calls to sq(xx)	4 years ago
Andrew Tridgell	5319e3910f	AP_NavEKF3: moved checkUpdateEarthField to be called less often	4 years ago
Andrew Tridgell	a8c6d742aa	AP_NavEKF3: update earth field at 1Hz this prevents large mag errors on long distance flights	4 years ago
Andrew Tridgell	885e518741	AP_NavEKF3: allow for double EKF build	4 years ago
Paul Riseborough	1281033931	AP_NavEKF3: Remove unused class variable rngBcnTimeout	4 years ago
Paul Riseborough	de3c6d6e5c	AP_NavEKF3: Fade each vert vel variance clip count over 1 second	4 years ago
Paul Riseborough	b7aad13cc8	AP_NavEKF3: Protect against collapse of velocity and position variances	4 years ago
Siddharth Purohit	cd5b764fd8	AP_NavEKF3: use first usable compass index to set magSelectIndex	4 years ago
Peter Barker	c00f110f3d	AP_NavEKF3: use DAL APIs for takeoff/touchdown expected	4 years ago
Randy Mackay	02f6ca51bc	AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero	4 years ago
Paul Riseborough	1018801522	AP_NavEKF3: White space and comment fixes	4 years ago
Paul Riseborough	7113387d27	AP_NavEKF3: Use better defined data type	4 years ago
Paul Riseborough	ac87cab6bc	AP_NavEKF3: constify array index variable	4 years ago
Paul Riseborough	a07427fd30	AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight	4 years ago
priseborough	4b1c334bba	AP_NavEKF3: improve stability of co-variance matrix processing This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.	4 years ago
Paul Riseborough	85c0040fa3	AP_NavEKF3: Improve inFlight detection for fixed wing Better handle case where no airspeed sensor is being used with a hand launch.	4 years ago
Paul Riseborough	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
Andrew Tridgell	ddc4d08e8f	AP_NavEKF3: make drag fusion optional	4 years ago
Andrew Tridgell	1ccda938cb	AP_NavEKF3: make external navigation optional	4 years ago
Andrew Tridgell	8da511f039	AP_NavEKF3: make body odomotry build depend on vehicle type saves about 11k of flash	4 years ago
Andy Piper	099d6aa72e	AP_NavEKF3: add filter reset when vehicle is idle for too long	4 years ago
Andrew Tridgell	59fa794818	AP_NavEKF3: constrain vertical error this prevents a floating point exception with external AHRS	4 years ago
Randy Mackay	27c998ad94	AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS	4 years ago
Randy Mackay	5891c6ace8	AP_NavEKF3: separate GPS yaw from ExtNav yaw	4 years ago
Paul Riseborough	a9e76d44af	AP_NavEKF3: Clean up yaw fusion logic	4 years ago
Paul Riseborough	c9ab4b18b0	AP_NavEKF3: Add multicopter wind estimation	4 years ago
Andrew Tridgell	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
Andrew Tridgell	bb32f1a397	AP_NavEKF3: avoid initialising unused ring buffers this assumes the nav sources are treated as reboot required	4 years ago
Peter Barker	e972fb31b1	AP_NavEKF3: remove unused variables	4 years ago
Peter Barker	0529ddcd67	AP_NavEKF3: move badMagYaw onto stack	4 years ago
Peter Barker	2d25149e2e	AP_NavEKF3: move global state to be on the stack	4 years ago
Andrew Tridgell	80f7906744	AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options these were unused	4 years ago
Randy Mackay	5eb3875ebb	AP_NavEKF3: rename posxy_source_last and posxy_source_reset	4 years ago
Randy Mackay	33b6212cce	AP_NavEKF3: rename _sources to sources	4 years ago
Randy Mackay	faed58a027	AP_NavEKF3: integrate Source for yaw	4 years ago
Randy Mackay	8931e50166	AP_NavEKF3: integrate Source for alt	4 years ago
Randy Mackay	c21d58ebea	AP_NavEKF3: integrate Source for position	4 years ago
Andrew Tridgell	0bc77a3baf	AP_NavEKF3: fixed whitespace	4 years ago
Andrew Tridgell	6fe05a9ab6	AP_NavEKF3: restore XKTV message	4 years ago
Andrew Tridgell	9b81c5a1e0	AP_NavEKF3: use dal reference in EKF backends saves a bit of flash space	4 years ago
Andrew Tridgell	1bdf6173ec	AP_NavEKF3: removed have_ekf_logging	4 years ago
Andrew Tridgell	096aab9388	AP_NavEKF3: convert to use AP_DAL for new replay structure Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>	4 years ago
Randy Mackay	7b898ee001	AP_NavEKF3: minor comment and format fixes	4 years ago
Paul Riseborough	f2af2b3458	AP_NavEKF3: Initialise tiltErrorVariance class variable	4 years ago
Paul Riseborough	43386a8eea	AP_NAvEKF3: Use a const reference	4 years ago
Paul Riseborough	64a3d8fe4e	AP_NavEKF3: Update documentation	4 years ago
Paul Riseborough	6c7820dd8d	AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL	4 years ago
Paul Riseborough	16ae75a681	AP_NavEKF3: Consolidate and log tilt error variance calculation	4 years ago

1 2 3 4

152 Commits (bbcce717dc67ff3ef752e4f941c45908d37f1d2c)