zr-v4

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	778b1c3e18	AP_NavEKF: Remove dead code for constant velocity mode	9 years ago
Paul Riseborough	fb8e01a73c	AP_NavEKF: Do not automatically accept DCM alignment data after 30 seconds A looser check is applied at 30 seconds rather than no check.	9 years ago
Paul Riseborough	be11e12f81	AP_NavEKF: Improve height reset during climbs and descents Resets the vertical velocity to the GPS when the height is reset is the GPS is healthy	9 years ago
Paul Riseborough	59df23bc0f	AP_NavEKF: Reduce EKF health pre-arm check false positives	9 years ago
Paul Riseborough	a1e32d71ec	AP_NavEKF: Prevent large rotation rates corrupting the in-flight mag reset	9 years ago
Lucas De Marchi	831d8acca5	Remove use of PROGMEM Now variables don't have to be declared with PROGMEM anymore, so remove them. This was automated with: git grep -l -z PROGMEM \| xargs -0 sed -i 's/ PROGMEM / /g' git grep -l -z PROGMEM \| xargs -0 sed -i 's/PROGMEM//g' The 2 commands were done so we don't leave behind spurious spaces. AVR-specific places were not changed.	9 years ago
Randy Mackay	3f29365cae	AP_NavEKF: constify getLastPosNorthEastReset	9 years ago
Randy Mackay	758c5a7d7f	AP_NavEKF: constify getLastYawResetAngle	9 years ago
Paul Riseborough	7c40448bab	AP_NavEKF: Remove GPS glitch offset logic The correction for offsets due to position and velocity resets will now be handled in the control loops.	9 years ago
Paul Riseborough	5489ff9118	AP_NavEKF: publish position and velocity state reset data Used by the control loops to compensate for steps in velocity and/or position resulting from state resets.	9 years ago
Paul Riseborough	44f42fe72d	AP_NavEK: Reduce settling time after start-up disturbance Now that we are using a consistent 50Hz minimum update rate for the covariance prediction we do not need a different initial gyro bias uncertainty for plane and copter to maintain filter stability margins. The default value of 0.1 rad/s was too high and gave excessive settling time of the filter attitude after startup. The initial attitude uncertainty has been increased to allow for some movement during startup.	9 years ago
Paul Riseborough	6c017ffcb5	AP_NavEKF: Predict covariance more often to prevent instability on startup If the baro data and magnetometer data are interleaved (arriving every 100 msec and offset by 50 msec), then the filter will go unstable during startup and fail to complete checks.	9 years ago
Andrew Tridgell	f66966ccae	NavEKF: use new perf counter API	9 years ago
Paul Riseborough	240ea92947	AP_NavEKF: Re-center gyro bias limits on arming Allows the gyro bias to vary by up to +-10 deg/second before and after arming.	9 years ago
Paul Riseborough	8515dda727	AP_NavEKF: Fix bug in vertical position derivative calculation	9 years ago
Paul Riseborough	6b3e114cd6	AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs	9 years ago
Paul Riseborough	840f307d58	AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions Updates arising from peer review.	9 years ago
Paul Riseborough	dab658f6ed	AP_NavEKF: Add methods to output and calculate vertical position derivative	9 years ago
Andrew Tridgell	f5b5a3b0f8	AP_NavEKF: added EKF_DISABLE_INTERRUPTS this helps with performance tuning	9 years ago
Andrew Tridgell	10fddf4c7e	AP_NavEKF: enable optimisation level 3 for the EKF	9 years ago
Andrew Tridgell	6f36267a66	AP_NavEKF: fixed EKF error message during 10 second warmup	9 years ago
Gustavo Jose de Sousa	afccf615d5	AP_NavEKF: use compass get_{field,offsets}() functions Both functions are equivalent, so we're going to simply use get_{field,offsets}() instead of get_{field,offsets}_milligauss().	9 years ago
Paul Riseborough	3479a0e209	AP_NavEKF: Prevent blocking of synthetic position fusion Fixes a potential error where changes to timing and arrival rate of magnetometer and baro data could block the fusion of synthetic position and velocity measurements, allowing unrestrained tilt errors during operation without GPS or optical flow. Fusion of synthetic position or velocity measurements is now timed to coincide with fusion of barometer observations. If a new barometer observation has not arrived after 200 msec then the synthetic position or velocity is fused anyway so that fusion of synthetic position or velocity observations cannot occur any slower than 5 Hz	9 years ago
Paul Riseborough	a895b16fa6	AP_NavEKF: Prevent GPS glitch activating EKF failsafe	9 years ago
Paul Riseborough	f451a81ef9	AP_NavEKF: Add missing GPs check report	9 years ago
Paul Riseborough	a3a1dabb94	AP_NavEKF: Update GPS check description and default setting Previous check default only checked the number of satellites and horizontal position accuracy. Updated default value also checks HDoP and speed accuracy.	9 years ago
Paul Riseborough	ef5049862a	AP_NavEKF: Add fix status to GPS check report message	9 years ago
Paul Riseborough	5177746c00	AP_NavEKF: Add reporting of GPS check status	9 years ago
Paul Riseborough	d0080b66cd	AP_NavEKF: Define a structure for reporting of GPS checks	9 years ago
Paul Riseborough	2b0434f089	AP_NavEKF: Improved detection of GPS glitch behaviour	9 years ago
Paul Riseborough	d48d4ac950	AP_NavEKF: Add GPS glitching monitor to EKF status report	9 years ago
Paul Riseborough	8a9d9c04c5	AP_NavEKF: Add public function to declare GPS glitch	9 years ago
Paul Riseborough	21e4910149	AP_NavEKF: Allow user to select preflight GPS checks	9 years ago
Paul Riseborough	cdae84aec1	AP_NavEKF: Additional pre-arm GPS quality checks	9 years ago
Paul Riseborough	8a66c9c2ed	AP_NavEKF: Critical Bugfix	9 years ago
Randy Mackay	b5c49e0792	AP_NavEKF: minor comment fix No functional change	10 years ago
Jonathan Challinger	51fb13a329	AP_NavEKF: fix getLastYawResetAngle to return yaw reset system time	10 years ago
Paul Riseborough	02408861a1	AP_NavEKF: Remove unused function	10 years ago
Tom Pittenger	e2fde36ec6	AP_NavEKF: index out of range due to incorrect assignment	10 years ago
Jonathan Challinger	d2b103b323	AP_SmallEKF: replace incorrect quaternion rotations with library call	10 years ago
Paul Riseborough	5c32bb8858	AP_NavEKF: Add pre-flight check for gyro quality	10 years ago
Paul Riseborough	8cfde42e15	AP_NavEKF: Ensure bad mag data cannot cause the heading to reset too often	10 years ago
Paul Riseborough	930f730612	AP_NavEKF: Reset mag and heading states to try and pass pre-flight checks	10 years ago
Staroselskii Georgii	b5b6d767bd	AP_NavEKF: make EKF use milligauss	10 years ago
Andrew Tridgell	0ca534bfab	AP_NavEKF: only call calcGpsGoodToAlign if we need to avoid calling it once we have an origin. This avoids some calculations and string operations	10 years ago
Andrew Tridgell	c10ce3ffbd	AP_NavEKF: added prearm_failure_reason()	10 years ago
Paul Riseborough	21f873662c	AP_NavEKF: Prevent false triggering of optical flow takeoff detection Now that we have a pre-arm check in place to detect bad lidar, the motion check is unnecessary and can false trigger for copters with flexible undercarriages or on uneven ground.	10 years ago
Randy Mackay	ec2bc5e41d	NavEKF: use maxf when retrieving vibration levels This reduces the performance hit that was caused by multiple calls to get_vibration_levels	10 years ago
Randy Mackay	629a5fd714	NavEKF: IMUSwitchState enum	10 years ago
Randy Mackay	c179ed5253	NavEKF: IMU ratio set to primary accel when neither IMU is used This forces the EKF IMU ratio to indicate which IMU is used except that it will be "0" in the unlikely case that the third IMU is used	10 years ago

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656 Commits (093407e8e855415f88d809e68456bc0403d69bef)