zr-v4

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	66e4d9d6e8	AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset Ensures consistent behaviour after resets and reduces attitude disturbances	9 years ago
Paul Riseborough	cf8175a073	AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.	9 years ago
Paul Riseborough	08de4e6d95	AP_NavEKF: Do not perform start-up yaw alignment if no compass Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.	9 years ago
Paul Riseborough	d2694fe5dc	AP_NavEKF2: Remove duplicate transition into GPS aiding This decision is made in one place in setAidingMode()	9 years ago
Paul Riseborough	7201f7d2fd	AP_NavEKF2: fix comment	9 years ago
Paul Riseborough	64a8153b68	AP_NavEKF2: update function name The primary purpose of this function is re-alignment	9 years ago
Paul Riseborough	addd213af0	AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude	9 years ago
Paul Riseborough	a3b78e6231	AP_NavEKF2: update tuning defaults	9 years ago
Paul Riseborough	65f63341d7	AP_NavEKF2: Improve numerical error protection in optical flow fusion Abort fusion of data if variances will become negative and publish the fault	9 years ago
Paul Riseborough	42da33593d	AP_NavEKF2: fix yaw fusion numerical health reporting	9 years ago
Paul Riseborough	6eb9d43507	AP_NavEKF2: add numerical error checking and isolation to mag decl fusion	9 years ago
Paul Riseborough	b325c5faeb	AP_NavEKF2: add error checking and isolation to mag heading fusion	9 years ago
Paul Riseborough	a0b1dc5325	AP_NavEKF2: add error checking and isolation to 3D amg fusion	9 years ago
Paul Riseborough	51a3df0319	AP_NavEKF2: Add error checking and isolation to pos vel fusion	9 years ago
Paul Riseborough	71b589c89c	AP_NavEKF2: extend fusion fault reporting coverage	9 years ago
Paul Riseborough	0982bd0b2b	AP_NavEKF2: update parameter documentation	9 years ago
Paul Riseborough	46a2993a0d	AP_NavEKF: use intuitive units for imu bias process noise parameters	9 years ago
Paul Riseborough	8c374fd679	AP_NavEKF2: correct comments	9 years ago
Paul Riseborough	6be9eaa524	AP_NavEKF2: use receiver estimated accuracy Adjust the GPS observation noise based on receiver accuracy output if available.	9 years ago
Paul Riseborough	dddc213836	AP_NavEKF2: Open up tuning limits Done to assist tuning assessments	9 years ago
Paul Riseborough	cf05e110fc	AP_NavEKF2: fix scaling error in use of IMU noise parameters Also remove process noise from state transition matrix where it was mistakenly left in after the derivation	9 years ago
Andrew Tridgell	4080c6091d	AP_NavEKF2: fixed an assumption that _ahrs->get_compass() always works if MAG_ENABLE=0 in plane there is no compass	9 years ago
Tom Pittenger	d67b1edf10	AP_NavEKF2: (potential) compiler warning of float to double promotion	9 years ago
Ricardo de Almeida Gonzaga	64d14356b9	AP_NavEKF2: Fix typos	9 years ago
dgrat	41661f815f	AP_Math: Replace the pythagorous* functions with a variadic template The new function can deal with a variable number of function parameters. Additionally, I renamed the functions to norm(), because this is the standard name used in several other projects.	9 years ago
Andrew Tridgell	ea508f1b80	AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters	9 years ago
Andrew Tridgell	32af886ba9	AP_NavEKF2: use consistent logging timestamps for sensors	9 years ago
Andrew Tridgell	4e4c575f16	AP_NavEKF2: added have_ekf_logging()	9 years ago
Andrew Tridgell	b7ba0fa458	AP_NavEKF2: added ad-hoc logging example to EKF2	9 years ago
Andrew Tridgell	223c512188	AP_NavEKF2: added logging of sensor data in EKF2	9 years ago
Andrew Tridgell	f92279f436	AP_NavEKF2: allow logging of IMT data from inside EKF2	9 years ago
Andrew Tridgell	9c4dd024bf	AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA this fixes a problem where users of NMEA GPS receivers could not arm with default EK2 parameters.	9 years ago
Andrew Tridgell	ac60901b0c	AP_NavEKF2: use vector comparison for new mag vector	9 years ago
Jonathan Challinger	97112ccd44	AP_NavEKF2: check mag instance id when returning mag offsets	9 years ago
Jonathan Challinger	1185cd1be7	AP_NavEKF2: move getMagOffsets into outputs	9 years ago
Jonathan Challinger	acfaafe276	AP_NavEKF2: detect changes to magnetometer offset parameters and reset states	9 years ago
Paul Riseborough	1ecc206eee	AP_NavEKF2: Allow use in planes without a magnetometer Implements the following techniques to enable planes to operate without magnetometers. 1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth. 2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw. 3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster.	9 years ago
Paul Riseborough	6d9ba8c527	AP_NavEKF2: Improve protection against ground based mag interference Reset the mag field states and yaw earlier than the normal 5m height threshold if toilet bowling is detected.	9 years ago
Lucas De Marchi	e40b87cd0e	AP_NavEKF2: replace header guard with pragma once	9 years ago
Paul Riseborough	38b3625ed8	AP_NavEKF2: Fix bug in initial alignment calculation The bug caused the initial roll angle to be incorrect if the vehicle was powered up when inverted, causing long alignment times.	9 years ago
Paul Riseborough	2888bdd6d5	AP_NavEKF: Protect against possible div by 0	9 years ago
Paul Riseborough	7d6b926749	AP_NavEKF2: Improved magnetic heading fusion Use an Euler yaw heading that switches between a 321 and 312 rotation sequence to avoid areas of singularity. Using Euler yaw decouples the observation from the roll and pitch states and prevents magnetic disturbances from affecting roll and pitch via the magnetometer fusion process.	9 years ago
Paul Riseborough	bb74371c58	AP_NavEKF2: Do not use GPS height if GPS accuracy is poor If we are using GPS height, revert back to using Baro height if the GPS accuracy is poor.	9 years ago
dgrat	5148e41c1a	AP_Math: Cleaned macro definitions Moved Definitions into a separate header. Replaced PI with M_PI and removed the M_PI_*_F macros.	9 years ago
Paul Riseborough	7459bfb96b	AP_NavEKF2: Eliminate simple compass fusion singularities near +-90 deg pitch The use of yaw angle fusion during startup and ground operation causes problems with tail-sitter vehicle types. Instead of observing an Euler yaw angle, we now observe the yaw angle obtained by projecting the measured magnetic field onto the the horizontal plain. This avoids the singularities associated with the observation of Euler yaw angle.	9 years ago
Paul Riseborough	4aefe1caee	AP_NavEKF2: Fix sign error in magnetic heading innovation calculation	9 years ago
Peter Barker	475a2040a1	AP_NavEKF2: avoid use of undefined #defines Ensure EKF_DISABLE_INTERRUPTS is defined Do not define MATH_CHECK_INDEXES, assume it is defined	9 years ago
Paul Riseborough	047e9fabaf	AP_NavEKF2: Fix bug in simple heading fusion The innovation calculation should have been updated when the heading fusion maths was updated. We now use a direct heading or yaw angle measurement in the derivation, not the difference between observed and published declination.	9 years ago
Paul Riseborough	d3c9a0aef1	AP_NavEKF: Limit heading innovations after the consistency check	9 years ago
Paul Riseborough	6a34e4c384	AP_NavEKF2: Fix bug in magnetic heading and declination fusion equations. The derivation incorrectly used a tan instead of an atan function. This applies the corrected auto-code.	9 years ago

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430 Commits (0f079deebf1e4596cff3ea0f8a6afd5901510b84)