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Commit Graph

218 Commits (24b7c0c3b49a8dc2def740764af338ec732dd5b5)

Author	SHA1	Message	Date
priseborough	9da3caca47	AP_NavEKF3: Improve GPS reference height estimator ... Fix rounding error bug preventing state from updating after initial convergence. Decouple GPS reference height from published EKf origin height. Add bitmask parameter to control update and publishing of GPS reference height.	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	c1eb9fb9c3	AP_NavEKF3: Spell in comments	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	d3a57b5965	AP_NavEKF3: Use SI units conventions in parameter units ... Follow the rules from: http://physics.nist.gov/cuu/Units/units.html http://physics.nist.gov/cuu/Units/outside.html and http://physics.nist.gov/cuu/Units/checklist.html one further constrain is that only printable (7bit) ASCII characters are allowed	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	9cb068d3f4	AP_NavEKF3: Spell in coments	8 years ago
murata	46cba2c970	libraries: Delete the setting value for specific editor.	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	23b7f1e645	AP_NavEKF3: Improve comments, typos	8 years ago
priseborough	4a898037e9	AP_NavEKF3: documentation update	8 years ago
Andrew Tridgell	a04aff7a7d	AP_NavEKF3: added inter-EKF scheduling cooperation ... this changes the stragegy for load levelling between EKF cores so it works between EK2 and EK3, and with future estimators as well. It allows us to run EK3 and EK2 at the same time with good scheduling performance	8 years ago
priseborough	0bf50fd56f	AP_NavEKF3: Add monitoring of average EKF time step	8 years ago
priseborough	3ce81967ae	AP_NavEKF3: Improve calculation and use of average EKF time step	8 years ago
priseborough	7abf9997e6	AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF	8 years ago
priseborough	1301b9797a	AP_NavEKF3: Fix solution validity reporting bug ... Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.	8 years ago
Andrew Tridgell	adb281cd4e	AP_NavEKF3: added timing statistics logging	8 years ago
priseborough	f208986d43	AP_NavEKF3: Reset covariance if bad mag fusion update	8 years ago
Andrew Tridgell	18b66f9eed	AP_NavEKF3: fixed reset of coviariance matrix	8 years ago
Randy Mackay	b255c7b370	AP_NavEKF: add setOrigin	8 years ago
priseborough	fb7104f4e3	AP_NavEKF3: add fusion method for body frame odometry data	8 years ago
Andrew Tridgell	248773a7c8	AP_NavEKF3: allow access to quaternion for each instance	8 years ago
priseborough	8250fe4943	AP_NavEKF3: fix documentation derivation references	8 years ago
priseborough	06c073e448	AP_NavEKF3: Update tilt alignment check	8 years ago
Jonathan Challinger	c7a73e84d6	AP_NavEKF3: apply height innovation floor only when barometer is in use	8 years ago
priseborough	56a9e2c462	AP_NavEKF3: Reference correct derivation	8 years ago
priseborough	18927395d7	AP_NavEKF3: log correct GPS for replay	8 years ago
priseborough	01551a4423	AP_NavEKF3: handle position jump caused by change in GPS receiver ... If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement. correct output observer history when doing a GPS height reset	8 years ago
Randy Mackay	3e039a6ba4	AP_NavEKF3: minor formatting fixes ... No functional change	8 years ago
Randy Mackay	a80c0a231d	AP_NavEKF3: attempt to set-up every core ... previously we would only call setup_core for the 2nd core if the first had been setup successfully	8 years ago
priseborough	7a8783f35e	AP_NavEKF3: Fix bug preventing reset to GPS ... This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.	8 years ago
Randy Mackay	3f6a734a71	AP_NavEKF3: only use downward facing rangefinder	8 years ago
Michael du Breuil	1de198883d	AP_NavEKF3: Check gps vertical accuracy for aligning the GPS	8 years ago
Jacob Walser	ac1e1b9460	AP_NavEKF3: Add set_baro_alt_noise method	8 years ago
Francisco Ferreira	23f959b92f	AP_NavEKF3: fix copied parameter descriptions	8 years ago
priseborough	de7a679534	AP_NavEKF3: Enable simple heading fusion to be set for specific cores	8 years ago
priseborough	ccb952ba31	AP_NavEKF3: Use the same mag fusion method for all cores ... The original reason for using a different method for the second core is no longer valid.	8 years ago
priseborough	e399f57ffa	AP_NavEKF3: prevent NaN if RNGFND_GNDCLEAR is zero	8 years ago
priseborough	784fa6fed8	AP_NavEKF3: fix compiler error	8 years ago
priseborough	2c36da2b21	AP_NavEKF3: relocate perf monitor to count all three mag components	8 years ago
priseborough	4d958952f6	AP_NavEKF3: use standard unit descriptor for milliseconds	8 years ago
priseborough	b5ba1d0346	AP_NavEKF3: protect against large delay values returned by the GPS library	8 years ago
priseborough	4540faf6af	AP_NavEKF3: Improve waiting for GPS configuration ... Do not time out and provide an escalating series of messages. We may need to adjust the time thresholds used for escalation. Do not wait if the EKF is not using the GPS.	8 years ago
priseborough	52e8f687d9	AP_NavEKF3: fix logic bug introduced by magnetometer use changes	8 years ago
priseborough	a133d55b6d	AP_NavEKF3: Allow copters to fly with magnetometers disabled ... Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted) Copter optical flow operation without a magnetometer is permitted. The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.	8 years ago
priseborough	2e5ac40ef6	AP_NavEKF3: remove unnecessary stdio includes	8 years ago
priseborough	8688d1ddac	AP_NavEKF3: Improve range finder selection logic ... Fixes bug that could leave it locked out of range finder use.	8 years ago
priseborough	7e8f3fca53	AP_NavEKF3: Address review comments ... Removes a leftover debug printf statement. Fixes documentation errors. Replace remaining fmaxf function calls with Ardupilot MAX function	8 years ago
priseborough	b723966b8d	AP_NavEKF2: Add protection against bad GPS time delay values ... Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.	8 years ago
priseborough	59ee074560	AP_NavEKF3: Remove EKF2 names	8 years ago
priseborough	b862f0d7ad	AP_NavEKF3: Enable use of GPS delay value from returned by the driver ... Use the time delay returned by the GPS driver. Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.	8 years ago
priseborough	69a47d7522	AP_NavEKF3: Improve reporting of buffer allocation	8 years ago
priseborough	ceb42225fd	AP_NavEKF3: Ensure enough time to fill buffers when starting filter	8 years ago
priseborough	a8fd1d8bcd	AP_NavEKF3: fix potential time-stamping bug ... Use a consistent time reference	8 years ago