8dc6354a54
AP_NavEKF: Prevent touchdown baro errors tripping height innovation check
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Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
10 years ago
2f38dd1b67
AP_NavEKF: use quaternion functions to apply IMU delta angles
10 years ago
9c374eb4a8
AP_NavEKF: apply constrained floor to barometer innovation while landing
10 years ago
3c6446fadd
AP_NavEKF: refactor meaHgtAtTakeOff filter
10 years ago
744de74c16
AP_NavEKF: Reduce ground effect baro induced height errors during takeoff
10 years ago
13616d6436
AP_NavEKF: Add takeoff and touchdown expected to reported filter status
10 years ago
8c92524b8a
AP_NavEKF: add takeoffExpected and touchdownExpected
10 years ago
b6b55bf6f2
AP_NavEKF: integrate gravity over correct time period
10 years ago
cb0c424da1
AP_NavEKF: rewrite readIMUData
10 years ago
514c349060
AP_NavEKF: raise DCM error_rp threshold to 0.05
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it was failing on many boards with fixed wing
10 years ago
fdf226ebc1
AP_NavEKF: include AP_RangeFinder.h
10 years ago
a340d13d01
NavEKF: fix compile warning re member init order
10 years ago
d6b34209b5
NavEKF: fix compile warnings re float constants
10 years ago
b05bdd657d
AP_NavEKF: getHeightControlLimit modifies height on success
10 years ago
cf04600710
AP_NavEKF: Add public function to limit height control during OF nav
10 years ago
68b225de4d
AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height
10 years ago
c2e6fdb56c
AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate
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This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
10 years ago
fd7fdc1ad9
AP_NavEKF: Remove unnecessary state resets on arm and disarm
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Resetting states unnecessarily creates transients due to presence of bias errors
10 years ago
3e67080002
AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias
10 years ago
e48171ab11
AP_NavEKF: Improve takeoff with optical flow and range data loss
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Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
10 years ago
3e061b174e
AP_NavEKF: Report unhealthy for all filter faults
10 years ago
6c4c54c2ba
AP_NavEKF: Use default on ground range parameter from range finder object
10 years ago
10476333d8
AP_NavEKF: don't run when previously disarmed and time has slipped
10 years ago
085faaac6a
AP_NavEKF: fix delay detection so that filter properly resets after a delay
10 years ago
1c8e3f9444
AP_NavEKF: Allow EKF to pull data from range finder object
10 years ago
4a5bf0a266
AP_NavEKF: Reduce EKF start time
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Makes EKF start conditional on DCM solution tilt error
10 years ago
e59c6ddbae
AP_SmallEKF: increase start-up time of the SmallEKF
10 years ago
4ad3e786a5
AP_NavEKF: fix initialization of the SmallEKF
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The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
10 years ago
1d9beed42f
AP_SmallEKF: add function to report if the EKF is stable
10 years ago
7b28bf7d44
AP_NavEKF: Remove small EKF dependency on navigation EKF
10 years ago
4586de6637
AP_NavEKF: enable optimisation in Linux build
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only really need debugging for SITL
10 years ago
dffa2e19bf
AP_NavEKF: Make copter glitch accel consistent with timeout and radius
10 years ago
5d70854c08
AP_NavEKF: Fix minor bug in calculation of innovation variance
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the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
10 years ago
1008c6390c
AP_NavEKF: Fail absolute position status if GPS repeatedly rejected
10 years ago
77d3798278
AP_NavEKF: Reduce recovery time after a GPS fusion timeout
10 years ago
0852aeab6e
AP_NavEKF: Allow raw innovations to be monitored during timeouts
10 years ago
d3f4b4a02b
AP_NavEKF: Fix name consistency for data check time stamps
10 years ago
e79ccf1fcc
AP_NavEKF: Fix bug allowing terrain to be above vehicle position
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The terrain state and vehicle state need to be compared at the same time horizon.
10 years ago
6d58c63c4c
AP_NavEKF: Prevent potential divide by zeros in OF fusion
10 years ago
89142f1c5f
AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates.
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the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
10 years ago
9268024094
AP_NavEKF: Update default parameters for copter optical flow fusion
10 years ago
4fbdab27ff
AP_NavEKF: Use range finder for primary hgt ref in opt flow mode
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Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
10 years ago
d618c55e2f
AP_NavEKF: Improved handling of noisy GPS speed accuracy data
10 years ago
e98edaa6cb
AP_NavEKF: Return more accurate validity status for height above ground
10 years ago
586e4a7d2b
AP_NavEKF: Add Matlab derivations and simulations behind small EKF
10 years ago
c57e25142c
AP_NavEKF: Update optical flow fusion maths to reduce height errors
10 years ago
55befdc345
AP_NavEKF: Typo correction for EAS_NOISE description
10 years ago
9b3656e77c
AP_NavEKF: Fix bug introduced in Y axis flow fusion
10 years ago
baf292def1
AP_NavEKF: prevent float exception on startup
10 years ago
7fc0f026d2
AP_NavEKF: Fix bug in optical flow innovation variance integrity check
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The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
10 years ago
Paul Riseborough
Jonathan Challinger
Andrew Tridgell
Randy Mackay
Tom Pittenger
Arthur Benemann
myly10