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Tree: 34249ffa42

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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ardupilot/libraries/AP_NavEKF

History

priseborough 13df6fb1c9 AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' ... This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation. Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated. Unused variables have been removed		10 years ago
..
AP_NavEKF.cpp	AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'	10 years ago
AP_NavEKF.h	AP_NavEKF: Added getAccelNED function	10 years ago