zr-v4

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	a9e76d44af	AP_NavEKF3: Clean up yaw fusion logic	4 years ago
Paul Riseborough	c9ab4b18b0	AP_NavEKF3: Add multicopter wind estimation	4 years ago
Andrew Tridgell	bdba430e55	AP_NavEKF3: save memory on beacon debug structure only allocate when beacons are enabled. This relies on a guarantee in the DAL that the beacon count cannot change	4 years ago
Andrew Tridgell	bb32f1a397	AP_NavEKF3: avoid initialising unused ring buffers this assumes the nav sources are treated as reboot required	4 years ago
Peter Barker	e972fb31b1	AP_NavEKF3: remove unused variables	4 years ago
Peter Barker	0529ddcd67	AP_NavEKF3: move badMagYaw onto stack	4 years ago
Peter Barker	2d25149e2e	AP_NavEKF3: move global state to be on the stack	4 years ago
Andrew Tridgell	80f7906744	AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options these were unused	4 years ago
Randy Mackay	5eb3875ebb	AP_NavEKF3: rename posxy_source_last and posxy_source_reset	4 years ago
Randy Mackay	33b6212cce	AP_NavEKF3: rename _sources to sources	4 years ago
Randy Mackay	faed58a027	AP_NavEKF3: integrate Source for yaw	4 years ago
Randy Mackay	8931e50166	AP_NavEKF3: integrate Source for alt	4 years ago
Randy Mackay	c21d58ebea	AP_NavEKF3: integrate Source for position	4 years ago
Andrew Tridgell	0bc77a3baf	AP_NavEKF3: fixed whitespace	4 years ago
Andrew Tridgell	6fe05a9ab6	AP_NavEKF3: restore XKTV message	4 years ago
Andrew Tridgell	9b81c5a1e0	AP_NavEKF3: use dal reference in EKF backends saves a bit of flash space	4 years ago
Andrew Tridgell	1bdf6173ec	AP_NavEKF3: removed have_ekf_logging	4 years ago
Andrew Tridgell	096aab9388	AP_NavEKF3: convert to use AP_DAL for new replay structure Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>	4 years ago
Randy Mackay	7b898ee001	AP_NavEKF3: minor comment and format fixes	4 years ago
Paul Riseborough	f2af2b3458	AP_NavEKF3: Initialise tiltErrorVariance class variable	4 years ago
Paul Riseborough	43386a8eea	AP_NAvEKF3: Use a const reference	4 years ago
Paul Riseborough	64a3d8fe4e	AP_NavEKF3: Update documentation	4 years ago
Paul Riseborough	6c7820dd8d	AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL	4 years ago
Paul Riseborough	16ae75a681	AP_NavEKF3: Consolidate and log tilt error variance calculation	4 years ago
Paul Riseborough	4e41e9f5f1	AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions	4 years ago
Paul Riseborough	fa10d114e4	AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch Use existing covariance prediction code to set quaternion state covariances. Assumes tilt error is 3 deg 1-sigma.	4 years ago
Paul Riseborough	73d5ca5ad3	AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch Use existing covariance prediction code to set quaternion state covariances. Assumes tilt error is 3 deg 1-sigma. TODO derive and add function that calculates tilt error variance.	4 years ago
Paul Riseborough	a97d030e4b	AP_NavEKF3: Reset earth field variances when starting mag field estimation	4 years ago
Paul Riseborough	9168d0cd19	AP_NavEKF3: Initialise mag field variances to non zero values	4 years ago
Paul Riseborough	f81abd73d6	AP_NavEKF3: Update covariance prediction to yse SymPy generated equations Saves flash and variable space.	4 years ago
Peter Barker	0496ecc4f6	AP_NavEKF2: remove unused state variables	4 years ago
Peter Barker	a1e7c91f8e	AP_NaveEKF3: reduce code duplication in setup_core Less code. Saves 40 bytes on PixRacer	4 years ago
Peter Barker	ef505df78a	AP_NavEKF3: remove unused quat2Tbn method	4 years ago
Peter Barker	3dc67f09fd	AP_NavEKF3: remove unused innovationIncrement and lastInnovation	4 years ago
Randy Mackay	f5a04fd1a3	AP_NavEKF3: shorten buffer size send_text message length	4 years ago
Andrew Tridgell	8a4b0f858a	AP_NavEKF3: reset body mag variances at key points we need to reset the body mag variances if we change sensors or if we are starting 3D fusion. When not doing 3D fusion we zero the variances, so they must be initialised again when we restart fusion. This fixes a bug in handling the variances on a 2nd flight	4 years ago
Harshit Kumar Sankhla	edc3709653	AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter this allows the EKF core index to be used to select a GPS/baro/mag instance. This is an alternative to GPS blending that allows EKF lane switching to be used to select the right combination of GPS and IMU add logging to XKFS message	5 years ago
Randy Mackay	384029d278	AP_NavEKF3: rngBcnDataNew made local	5 years ago
Randy Mackay	d292ba028a	AP_NavEKF3: increase beacon buffer to imu + 1	5 years ago
Randy Mackay	4c40d2ac3f	AP_NavEKF3: readyToUseBodyOdm uses delayed imu and wheel encoder timestamps	5 years ago
Randy Mackay	3d5161f364	AP_NavEKF3: remove unused usingWheelSensors variable This variable was set but never consumed	5 years ago
chobits	c722367c6c	AP_NavEKF3: move extNavVelNew to local variable	5 years ago
chobits	7ad9e3548f	AP_NavEKF3: make reset source variable local	5 years ago
Peter Barker	6b701ae3b3	AP_NavEKF3: correct includes	5 years ago
Paul Riseborough	c8bbbd2720	AP_NavEKF3: Fix bug preventing setting of mag field states	5 years ago
Randy Mackay	d8f2d0cf8d	AP_NavEKF3: max delay includes visual odometry	5 years ago
Andy Piper	e35458cedf	AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz()	5 years ago
Paul Riseborough	21ea5d5039	AP_NavEKF3: Require GSF yaw history for reset when not using a yaw sensor	5 years ago
Paul Riseborough	8ff6780323	AP_NavEKF3: Clarify distinct use cases for 'takeoff expected'	5 years ago
Randy Mackay	ec5f84c926	AP_NavEKF3: remove unused terrainHgtStableSet_ms	5 years ago

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126 Commits (0ae9b281980c480719a3854decf46425830ccca8)