000a2b17c3
AP_NavEKF_Source: remove unused setVelZSource
4 years ago
7f15b7b126
AP_NavEKF_Source: prearm check of wheelencoders
4 years ago
4fdbbd8984
AP_NavEKF: added functions to see if a nav source is enabled
...
this allows us to avoid initialising ring buffers when not needed
4 years ago
ab917ed92e
AP_NavEKF: add more protections on ring buffer code
...
declare an internal error if we try to access an element when not
initialised
4 years ago
fdbffd19c6
AP_NavEKF_Source: remove defaults for baro and compass
...
This makes all our defaults "NONE", meaning that a user will not see a
prearm failure for any source other than those in the primary set when
using the default configuration.
4 years ago
8124c3fea8
AP_NavEKF_Source: set compass_required if we require a compass
4 years ago
6c3948f417
AP_NavEKF_Source: optimise configured_in_storage
...
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
4 years ago
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
4 years ago
e4a9497942
AP_NavEKF: added common EKF buffer classes
4 years ago
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
4 years ago
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
4 years ago
9b84abecaa
AP_NavEKF_Source: enables dynamically changing sensor sources
4 years ago
78e10e99f5
AP_NavEKF: Add accessor for yaw estimator velocity innovation length
4 years ago
97a2c5a576
AP_NavEKF: removed Log_EKF_Timing
...
not needed for new replay
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
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
Randy Mackay
Andrew Tridgell
Peter Barker
Paul Riseborough
Paul Riseborough
Rishabh
Peter Hall
Michael du Breuil
priseborough
Pierre Kancir
murata
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger