e6312d91ce
AP_NavEKF2: Correct variable name
9 years ago
cd8b9c7d26
AP_NavEKF: prevent high rate mag data locking out other data fusion
9 years ago
ab8c28a7cc
AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding
...
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
9 years ago
cb0f7cb370
NavEKF2: use new perf counter API
9 years ago
d1dfd5fd01
AP_NavEKF2: use common header for optimisation level and irq disable
9 years ago
b6c1352e4c
AP_NavEKF2: added 10 test perf counters
...
used for fine grained performance tuning
9 years ago
2fbd050418
AP_NavEKF2: Use blended accelerometer data
...
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
9 years ago
2b13020c19
AP_NavEKF2: Fix bug in vertical position derivative calculation
9 years ago
f6ad79688e
AP_NavEKF2: Update start sequence console messages
9 years ago
8526a8ba7e
AP_NavEKF2: Level processor loading between frames
...
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
9 years ago
225b81baf4
AP_NavEKF2: Prevent users breaking filter by setting excessive time delays
...
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
9 years ago
1b8a93ef0c
AP_NavEKF2: Update function header comments
9 years ago
495809f211
AP_NavEKF2: Allow magnetic field learning to be faster
9 years ago
52fd369b2f
AP_NavEKF2: Add methods to output and calculate vertical position derivative
...
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
...
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
22920aafad
AP_NavEKF2: Improve GPS status reporting
9 years ago
1cb2220107
AP_NavEKF2: Critical Bugfix
9 years ago
1ce3276d74
AP_NavEKF2: split EKF control and output get functions from state specific libs
9 years ago
290ea0e1e8
AP_NavEKF2: split up EKF_core into different files
9 years ago
cde140354a
AP_NavEKF2: Clean up control logic
10 years ago
f4db78fc11
AP_NavEKF2: Allow for larger gyro bias errors
...
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.
10 years ago
325f4139fe
AP_NavEKF2: Clean up mode change logic
10 years ago
ef624199f9
AP_NavEKF2: Enable GPS velocity fusion to be inhibited
10 years ago
53e58f1075
AP_NavEKF2: Update default parameters
...
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
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
f270573acc
AP_NavEKF2: Use library functions for quaternion corrections
10 years ago
cbc62238a9
AP_NavEKF2: run astyle for reformatting
10 years ago
f500474a86
AP_NavEKF2: initial import of new maths EKF
10 years ago
Paul Riseborough
Andrew Tridgell
Randy Mackay
Siddharth Bharat Purohit
Paul Riseborough