This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
The cross terms (covariances) are now reset before the variance variance is set.
The vertical velocity state variance following a reset without GPS has been reduced.
calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
Beat Küng
Paul Riseborough
Roman Bapst
Roman
CarlOlsson
bugobliterator