a713139d79
Copter: 4.1.0-beta6 release notes
4 years ago
a3e176284d
AP_Scripting: add AP_InertialSensor binding
4 years ago
88d49effe7
AP_AHRS: move variable init into variable declaration
4 years ago
15e5831002
AP_AHRS: remove unused get_expected_mag_field method
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there's get_mag_field_NED on AP_AHRS....
4 years ago
5b372dae06
AP_AHRS: stop storing gyro drift rate as variable
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This is constant and is just folded into whereever it is used.
4 years ago
a4d98a457b
AP_AHRS: move init of dcm state into variable declarations
4 years ago
4f9201a160
AP_AHRS: move parameters back into AP_AHRS.h
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metadata collection kind of dies otherwise
4 years ago
d351b7c7dc
AP_AHRS: fix includes for moved files
4 years ago
b7d4166b28
AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.*
4 years ago
97b394a5ef
AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.*
4 years ago
17ead96250
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
4 years ago
9207744152
Tools: Rework Plane.EKFlaneswitch autotest
4 years ago
7f3980c1f4
Tools: Rework Copter VibrationFailsafe test to use commanded land
4 years ago
cd0eb379fd
Revert "Copter: failsafe if bad vibration"
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This reverts commit fce517fef45d1de95b6cb8d5f79ddd6c374f8482.
4 years ago
aa6ac4a874
AP_NavEKF3: retune wind process noise for better airspeed fault detection
4 years ago
8fd1e98701
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
ef1dda005f
Tool: Allow more time for quadplane autotest to land and disarm
4 years ago
0088b0f3fe
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
4 years ago
c0d942af4c
Plane: disable EKF3 default airspeed fusion by default
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this fusion can cause problems with wind estimation, disable by
default for now
4 years ago
5dcd4834f3
Copter: failsafe if bad vibration
4 years ago
59d31cc7d5
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
5fa3ed5755
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
9654697415
Copter: rework ekf_check to use the EKF vibration_affected status
4 years ago
7497590363
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
4 years ago
3e123c0a30
AP_NavEKF3: Use sensor variance when checking for bad IMU
4 years ago
e3bdbcd8ea
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
8f1b98a0cb
AP_AHRS: Add accessor function for vibration affected status
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AP_AHRS: fix rebase build error
4 years ago
ccc95d8726
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
ed61287410
AP_NavEKF3: Don't update accel bias states if vibration affected
4 years ago
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
5eb7751682
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
4 years ago
ff1c465a17
Tools: relax navigation test accuracy
4 years ago
72dc998509
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
0f2661c31c
AP_NavEKF3: Retune IMU process noise
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Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
4 years ago
a0ae998a4d
Tools: Fix AIRSPEED_AUTOCAL test failure
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The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
4 years ago
171eed5d85
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
ce4d13091a
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
6242ce19fa
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
bb9eed28a9
AP_NavEKF3: Update covariance prediction equations
4 years ago
7b8e935880
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
4 years ago
0048167f16
SITL: added SIM2 message
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useful for EKF debugging
4 years ago
e9f6a5afdf
AR_WPNav: integrate PathPlanner returning path_planner_used
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Rover does not need to handle the results differently based on the planner used
4 years ago
83e85c7125
AC_WPNav_OA: minor formatting and comment fixes
4 years ago
cf797dfca9
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
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also bendy ruler uses pos controller
4 years ago
dd4b3295f4
AC_Avoidance: BendyRuler returned destination are shortened
4 years ago
faadaafd53
AC_Avoidance: bendy ruler format fixes
4 years ago
6d6324a328
AC_Avoidance: OA_PathPlanner returns which planner was used
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this replaces get_bendy_type
4 years ago
d7d41aea38
AC_Avoidance: BendyRuler returns which type was used
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also make serach_xxx_path methods private
4 years ago
70c6694798
AP_Common: add Location::linear_interpolate_alt
4 years ago
7daacfd63e
AP_Math: vector2f gets float.h include
4 years ago
Randy Mackay
Tatsuya Yamaguchi
Peter Barker
Paul Riseborough
Paul Riseborough
Andrew Tridgell