3a8751d8a7
AP_NavEKF: remove unused variables
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
...
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
...
AP_NavEKF: Simplify centripetal accel correction
5 years ago
b0134460e5
AP_NavEKF:Logger documentation TimeUS fix
5 years ago
051a7dc298
AP_NavEKF: add onboard LogMessage documentation
5 years ago
9ec5355dfc
AP_NavEKF: add initalized flag and change to uint32_t
5 years ago
0da27417bc
AP_NavEKF: use instance # when logging EKF core timings
5 years ago
f79907bd1e
AP_NavEKF: fixed build with vector index checking
5 years ago
688b01c6c6
AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes
...
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:
- the compiler can determine the address of the frequently accessed
variables at compile time, making them faster
- by sharing between EK2 and EK3 we save a lot of memory if both EK2
and EK3 are enabled
- we can fill all these with NaN in SITL on every loop, which allows
us to catch cases where the variables are ever re-used between
loops, which guarantees we aren't mixing data between EKF lanes or
between EK2 and EK3
5 years ago
9e0f525f69
AP_NavEKF: move logging in from AP_Logger
6 years ago
103d1aea41
AP_NavEKF: added gps_quality_good EKF flag
7 years ago
ac9d5f8a5c
AP_NavEKF: Make the status unions use bool, add static asserts
7 years ago
6a91b294b4
AP_NavEKF: Clarify definition for gps_glitching flag
7 years ago
7d777485d8
AP_NavEKF: Add monitoring of average EKF time step
8 years ago
ae3df89d17
AP_NavEKF: added ekf_timing structure
8 years ago
61023fc636
NavEKF: Add GPS vertical accuracy to nav_gps_flags
8 years ago
bb29c74e52
AP_NavEKF: remove EKF1
8 years ago
f54cf6e097
AP_NavEKF: storeIndex remove second initialisation
8 years ago
de153ce1d7
AP_NavEKF: Correct the setting process of variable dAngBiasSigma.
8 years ago
ec42ddfb4e
AP_NavEKF: style changes (tab to spaces, etc.)
...
AP_NavEKF: style changes (tab to spaces, etc.)
AP_NavEKF: style changes (tab to spaces, etc.)
8 years ago
a05d216ce4
AP_NavEKF: make posOffset const ref for optflow
8 years ago
b40016db62
AP_NavEKF2: Fix documentation errors
8 years ago
8160eca47e
AP_NavEKF: update flow sensor interface
...
Adds a position offset which is not used by the backend
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
d0ba259d0d
AP_NavEKF: Fix bug in median filter code
8 years ago
3eba985afd
AP_NavEKF: use exact matrix for trim rotation
8 years ago
e63e7a5336
AP_NavEKF: comment that param "Enable" index is moved to top
9 years ago
b3bfb71431
AP_NavEKF: fix documentation errors
9 years ago
487bbc3ed2
AP_NavEKF: Fix reporting of position status
...
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
9 years ago
d33bbf8cc7
AP_NavEKF: remove debug code
9 years ago
d59d8cc6e3
AP_NavEKF: extend fusion fault reporting coverage
9 years ago
267a74ebb2
AP_NavEKF: Fix typos
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
6938e3d57b
AP_NavEKF: check mag instance id when returning mag offsets
9 years ago
bb0d96cedd
AP_NavEKF: replace header guard with pragma once
9 years ago
11760c33f6
AP_NavEKF: avoid use of undefined #defines
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Ensure EKF_DISABLE_INTERRUPTS is defined
Do not define MATH_CHECK_INDEXES, assume it is defined
9 years ago
1950008248
AP_NavEKF: Send correct data over mavlink status message
9 years ago
eabede692e
AP_SmallEKF: move to AP_Mount/SoloGimbalEKF and merge solo version
9 years ago
a6c39dee84
AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory
9 years ago
a0a4b698f6
AP_NavEKF: disable EKF1 by default
...
use EKF2 instead
9 years ago
0ef61b1637
AP_NavEKF: moved ENABLE param to front of list
...
and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
9 years ago
28a684ea03
AP_NavEKF: use get_loop_delta_t() from INS
9 years ago
a042845da8
AP_NavEKF: avoid an optimiser bug in clang
9 years ago
34d5dd0257
AP_NavEKF: fix invalid Range meta data
9 years ago
Peter Barker
Paul Riseborough
Randy Mackay
Paul Riseborough
Rishabh
Peter Hall
Andrew Tridgell
Michael du Breuil
priseborough
Pierre Kancir
murata
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger
Ricardo de Almeida Gonzaga
dgrat
Lucas De Marchi
Don Gagne