b47a11edf6
AP_NavEKF : improved static and on-ground mode selection logic
11 years ago
15a44571c2
AP_NavEKF : enable operation without a compass for planes
11 years ago
2019708056
AP_NavEKF : Make all compass use autodetect
11 years ago
e485b246e7
AP_NavEKF : update comments
11 years ago
c8bd415b00
AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer
11 years ago
52fabc822f
AP_NavEKF : Add low speed magnetometer calibration option
11 years ago
6ace31b6c1
AP_NavEKF : Fix bug that leaves height unconstrained in static mode
11 years ago
94ff7522fc
AP_NavEKF : Fix bug in initial East mag field state variance
11 years ago
449d09051e
AP_NavEKF: cope with compass going offline while in flight
11 years ago
77f91e6250
AP_NavEKF: don't assume the number of gyros == number of accels
11 years ago
ebb3cc3348
AP_NavEKF : Use average of dual IMU gyro data when available
11 years ago
a39d00fc13
AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated
11 years ago
573b3210dd
AP_NavEKF : Add div0 protection to the IMU1_weighting calc
11 years ago
bd152d332c
AP_NavEKF : Add accel aliasing protection
11 years ago
853271dd37
Replay: moved replay tool into Tools/Replay
11 years ago
295cd9adba
AP_NavEKF: give a sensible error for no such file on replay
11 years ago
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
11 years ago
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
11 years ago
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
11 years ago
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
11 years ago
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
11 years ago
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
11 years ago
8b59e564ba
AP_NavEKF: improved replay timing
11 years ago
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
11 years ago
63874dfffd
AP_NavEKF: set fix type in GPS replay
11 years ago
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
11 years ago
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
11 years ago
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
11 years ago
01c84c3f47
AP_NavEKF : fixed bug in height limit range
11 years ago
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
11 years ago
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
11 years ago
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
11 years ago
ffbd655ba0
AP_NavEKF: support dual sensors in log replay, and fix flight altitude
11 years ago
707cc2b532
AP_NavEKF: allow log filename to be specified in replay
11 years ago
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
11 years ago
20b0444c15
AP_NavEKF: remove sleep on init of EKF
...
this prevents HIL from locking up, and also prevents a possible 1s
delay in flight on EKF init
11 years ago
c9d0c1face
AP_NavEKF: use ahrs->get_armed() for static mode demanded
11 years ago
536160a3fb
AP_NavEKF: use AHRS get_correct_centrifugal()
11 years ago
869e41fd03
AP_NavEKF: fixed detection of airspeed sensor
...
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
11 years ago
1ade39977a
AP_NavEKF : covariance prediction cleanup
11 years ago
8daca145d0
AP_NavEKF : useAirspeed set automatically
11 years ago
6fbada26d3
AP_NavEKF : Improvements to staticMode robustness
11 years ago
5bf170c440
AP_NavEKF: fixed log replay code
...
also added BARO and ARSP messages
11 years ago
7a82746fcc
AP_NavEKF : fixed bug in pos and vel reset when in static mode
11 years ago
275ef86f86
AP_NavEKF : Position and Velocity reset bugfix
11 years ago
b22dc706b2
AP_NavEKF : staticMode bugfix and robustness improvements
11 years ago
2926602718
AP_NavEKF : Cleaned up InitialiseFilterDynamic
11 years ago
404fbafe26
AP_NavEKF : Changed timout behaviour to only reset PosVel states
11 years ago
24e1070eb2
AP_NavEKF: initialise quaternion from rotation matrix
11 years ago
c6b24c521b
AP_NavEKF: force healthy false when initialising
...
this prevents us feeding off our own values when booting
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
11 years ago
Paul Riseborough
Andrew Tridgell