Roman
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c6e1d97176
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terrain estimator: initialise with projection
Signed-off-by: Roman <bapstroman@gmail.com>
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9 years ago |
Paul Riseborough
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65da9173b9
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EKF: capture innovation checks and reset events in separate variables
rename the innovation check status class variable and remove the reset flags from it.
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9 years ago |
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Paul Riseborough
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d80e71a499
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EKF: capture HAGL innovation test failures
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9 years ago |
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Paul Riseborough
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172f4be594
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EKF: Fix bug in calculation of terrain observation variance
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9 years ago |
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Paul Riseborough
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481c624975
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EKF: Remove use of vehicle arm status
Use single externally set in-air status for all decisions
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9 years ago |
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Paul Riseborough
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5bf02517a7
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EKF: Rationalise use of rotation matrices and improve efficiency
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9 years ago |
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Paul Riseborough
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d2407c3463
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EKF: code style updates
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9 years ago |
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Paul Riseborough
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962fd0aaf2
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EKF: Adjust terrain process noise for gradient effect
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9 years ago |
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Paul Riseborough
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1a2da887ab
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EKF: Fix bug in calculation of terrain estimator Kalman gain
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9 years ago |
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Paul Riseborough
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82cbfafb34
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EKF: Add source file for terrain vertical position estimator
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
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9 years ago |
