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
cf8175a073
AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
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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
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
d2694fe5dc
AP_NavEKF2: Remove duplicate transition into GPS aiding
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This decision is made in one place in setAidingMode()
9 years ago
7201f7d2fd
AP_NavEKF2: fix comment
9 years ago
64a8153b68
AP_NavEKF2: update function name
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The primary purpose of this function is re-alignment
9 years ago
addd213af0
AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude
9 years ago
d33bbf8cc7
AP_NavEKF: remove debug code
9 years ago
54213ad871
DataFlash: Improve reporting of normalised ekf2 magnetometer innovations
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Report the maximum of the x,y,z axis
9 years ago
a3b78e6231
AP_NavEKF2: update tuning defaults
9 years ago
65f63341d7
AP_NavEKF2: Improve numerical error protection in optical flow fusion
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Abort fusion of data if variances will become negative and publish the fault
9 years ago
42da33593d
AP_NavEKF2: fix yaw fusion numerical health reporting
9 years ago
6eb9d43507
AP_NavEKF2: add numerical error checking and isolation to mag decl fusion
9 years ago
b325c5faeb
AP_NavEKF2: add error checking and isolation to mag heading fusion
9 years ago
a0b1dc5325
AP_NavEKF2: add error checking and isolation to 3D amg fusion
9 years ago
51a3df0319
AP_NavEKF2: Add error checking and isolation to pos vel fusion
9 years ago
b1e9207c0f
Replay: extend ekf fault status reporting coverage
9 years ago
fcee82f9b2
DataFlash: extend ekf fault status reporting coverage
9 years ago
597ec61673
AP_AHRS: extend ekf fault status reporting coverage
9 years ago
d59d8cc6e3
AP_NavEKF: extend fusion fault reporting coverage
9 years ago
71b589c89c
AP_NavEKF2: extend fusion fault reporting coverage
9 years ago
0982bd0b2b
AP_NavEKF2: update parameter documentation
9 years ago
46a2993a0d
AP_NavEKF: use intuitive units for imu bias process noise parameters
9 years ago
8c374fd679
AP_NavEKF2: correct comments
9 years ago
6be9eaa524
AP_NavEKF2: use receiver estimated accuracy
...
Adjust the GPS observation noise based on receiver accuracy output if available.
9 years ago
dddc213836
AP_NavEKF2: Open up tuning limits
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Done to assist tuning assessments
9 years ago
cf05e110fc
AP_NavEKF2: fix scaling error in use of IMU noise parameters
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Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
9 years ago
5461002eea
Copter: read rangefinder at 20hz
9 years ago
e6b3638d84
Copter: minor change to land mode's logic to use rangefinder
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No functional change
9 years ago
8171532dc5
Copter: allow rangefinder to be disabled from definition
9 years ago
e489c3184c
Copter: rangefinder.enabled false if no range finders are configured
9 years ago
00445ce7bd
SITL: parameter file to enable rangefinder in copter
9 years ago
59070653cc
Copter: provide filtered range finder altitude to AC_WPNav
9 years ago
2bafc36ded
AC_WPNav: support rangefinder for terrain following
9 years ago
e18bf3af56
Copter: remove unused definitions
9 years ago
5ac13c0355
Copter: move rangefinder variables into structure
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moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
9 years ago
70463dc572
Copter: auto_spline_start handles triggers terrain failsafe
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Also immediately exit auto_wp_start on terrain failsafe
9 years ago
3688636736
Copter: RTL ignores terrain during terrain failsafe
9 years ago
273b9acad8
Copter: prearm check that RTL_ALT is below rangefinder max alt
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Only applies where terrain following is enabled and a range finder is connected
9 years ago
c7f80324fa
Copter: tilt correct rangefinder
9 years ago
ba38b0234f
Copter: use rangefinder class's valid_range_count
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Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
9 years ago
949d5f7109
Copter: add rangefinder_alt_ok
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Reduces some duplicate code,no functional change.
9 years ago
7689315ba2
Copter: rename sonar to rangefinder
9 years ago
028946ae9e
Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE
9 years ago
e0bf08abe0
Copter: fixes to guided mode target check is within fence
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guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
9 years ago
4829dbb55d
AC_Fence: rename check_destination_within_fence and accept distances in meters
9 years ago
bc22419286
Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence.
9 years ago
ff843448aa
AC_Fence: Added a new function to check whether the guided waypoint is within the fence
9 years ago
a5db4194bd
Tools: update PrintVersion.py for new firmware version location
9 years ago
b7fe96188d
Plane: raise range of THR_FS_VALUE
...
need to cope with reversed throttle
9 years ago
Paul Riseborough
Randy Mackay
Saloni Jain
Peter Barker
Andrew Tridgell