966deb1148
AP_NavEKF: sync for 4.1.0beta
4 years ago
78e87b32d6
AP_NavEKF: allow for double EKF build
4 years ago
afb31bc4f5
AP_NavEKF: Add underflow protection to yaw GSF weight normalisation
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This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
4 years ago
a3dcf5a6ff
AP_NavEKF: move GSF logging from EKF files into GSF files
4 years ago
754002525e
AP_NavEKF: constify EKFGSF_yaw members
4 years ago
78e10e99f5
AP_NavEKF: Add accessor for yaw estimator velocity innovation length
4 years ago
5ad5498b07
AP_NavEKF: Enable external setting of yaw estimator bias states
5 years ago
709a42cb7f
AP_NavEKF: remove unnecessary memcopy
5 years ago
4a743a3827
AP_NavEKF: Remove unnecessary reset operations and class variables
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The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
5 years ago
0ce4dd457d
AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data
5 years ago
a43beaaa23
AP_NavEKF: GSF white space fixes
5 years ago
1ee9f3a6de
AP_NavEKF: GSF getLogData and getYawData pass by reference
5 years ago
51b62a34b9
AP_NavEKF: Use better type for array index
5 years ago
6bb7c55bba
AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter
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AP_NavEKF: Simplify centripetal accel correction
5 years ago
Andrew Tridgell
Paul Riseborough
Peter Barker
Randy Mackay
Paul Riseborough