4ba09671a4
GCS_MAVLink: support disabling signing with zero key
9 years ago
c96ed2b4c6
GCS_MAVLink: fixed calculation of GPS timestamp
9 years ago
970dbf3c8d
GCS_MAVLink: fixed build with MAVLink1
9 years ago
24eb6afbe9
GCS_MAVLink: provide signing streams and accept_unsigned callback
9 years ago
ed9a43ca46
GCS_MAVLink: support for mavlink2 signing operations
9 years ago
ca39ece6cb
StorageManager: added storage region for signing keys
9 years ago
8ea9e29fee
GCS_MAVLink: use a fixed signing key for testing
9 years ago
0ead0ab978
GCS_MAVLink: support mavlink2 build
9 years ago
0ef5d8995b
AP_Mount: support mavlink2 build
9 years ago
4eadab7a90
HAL_QURT: support mavlink2 build
9 years ago
31f8d26784
HAL_Linux: support mavlink2 build
9 years ago
74121fdaeb
AP_NavEKF2: fix bug preventing in-flight alignment
9 years ago
16cb7078cd
AP_NavEKF2: Fix misleading pre-flight status reporting
9 years ago
38d61f5281
AP_NavEKF2: Update status reporting to handle no-magnetometer startup
9 years ago
9aa3cdfaae
AP_NavEKF2: Update GPS yaw re-alignment function
...
Updates to support initial alignment without magnetometer
9 years ago
e3c966661b
AP_NavEKF2: Remove unnecessary variance reset
...
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
9 years ago
1179c08473
AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw
...
This happens if planes are flown without a compass
9 years ago
581c1aa0d4
AP_NavEKF2: Adjust attitude variance values used after a heading reset
...
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
9 years ago
5ec8d523f6
AP_NavEKF: remove unwanted co-variance reset
...
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
9 years ago
66e4d9d6e8
AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset
...
Ensures consistent behaviour after resets and reduces attitude disturbances
9 years ago
cf8175a073
AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
...
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
9 years ago
08de4e6d95
AP_NavEKF: Do not perform start-up yaw alignment if no compass
...
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
9 years ago
d2694fe5dc
AP_NavEKF2: Remove duplicate transition into GPS aiding
...
This decision is made in one place in setAidingMode()
9 years ago
7201f7d2fd
AP_NavEKF2: fix comment
9 years ago
64a8153b68
AP_NavEKF2: update function name
...
The primary purpose of this function is re-alignment
9 years ago
addd213af0
AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude
9 years ago
d33bbf8cc7
AP_NavEKF: remove debug code
9 years ago
54213ad871
DataFlash: Improve reporting of normalised ekf2 magnetometer innovations
...
Report the maximum of the x,y,z axis
9 years ago
a3b78e6231
AP_NavEKF2: update tuning defaults
9 years ago
65f63341d7
AP_NavEKF2: Improve numerical error protection in optical flow fusion
...
Abort fusion of data if variances will become negative and publish the fault
9 years ago
42da33593d
AP_NavEKF2: fix yaw fusion numerical health reporting
9 years ago
6eb9d43507
AP_NavEKF2: add numerical error checking and isolation to mag decl fusion
9 years ago
b325c5faeb
AP_NavEKF2: add error checking and isolation to mag heading fusion
9 years ago
a0b1dc5325
AP_NavEKF2: add error checking and isolation to 3D amg fusion
9 years ago
51a3df0319
AP_NavEKF2: Add error checking and isolation to pos vel fusion
9 years ago
fcee82f9b2
DataFlash: extend ekf fault status reporting coverage
9 years ago
597ec61673
AP_AHRS: extend ekf fault status reporting coverage
9 years ago
d59d8cc6e3
AP_NavEKF: extend fusion fault reporting coverage
9 years ago
71b589c89c
AP_NavEKF2: extend fusion fault reporting coverage
9 years ago
0982bd0b2b
AP_NavEKF2: update parameter documentation
9 years ago
46a2993a0d
AP_NavEKF: use intuitive units for imu bias process noise parameters
9 years ago
8c374fd679
AP_NavEKF2: correct comments
9 years ago
6be9eaa524
AP_NavEKF2: use receiver estimated accuracy
...
Adjust the GPS observation noise based on receiver accuracy output if available.
9 years ago
dddc213836
AP_NavEKF2: Open up tuning limits
...
Done to assist tuning assessments
9 years ago
cf05e110fc
AP_NavEKF2: fix scaling error in use of IMU noise parameters
...
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
9 years ago
2bafc36ded
AC_WPNav: support rangefinder for terrain following
9 years ago
4829dbb55d
AC_Fence: rename check_destination_within_fence and accept distances in meters
9 years ago
ff843448aa
AC_Fence: Added a new function to check whether the guided waypoint is within the fence
9 years ago
9a100afede
AP_HAL_Linux: Thread: add doc about rounding function
9 years ago
359417d544
AP_HAL_Linux: Thread: make sure pointer is aligned
...
Implementation of alloca() is very much architecture and compiler
dependent. Avoid the case in which it could return a non-aligned
pointer, which would mean Thread::_poison_stack() would do the wrong
thing.
9 years ago
Andrew Tridgell
Paul Riseborough
Randy Mackay
Saloni Jain
Gustavo Jose de Sousa
Lucas De Marchi