Tree: 302e5c6871

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Commit Graph

427 Commits (302e5c687183613a1f393acb348fddd71e291242)

Author	SHA1	Message	Date
Andrew Tridgell	4d4e66d825	AP_NavEKF2: removed create() method for objects ... See discussion here: https://github.com/ArduPilot/ardupilot/issues/7331 we were getting some uninitialised variables. While it only showed up in AP_SbusOut, it means we can't be sure it won't happen on other objects, so safest to remove the approach Thanks to assistance from Lucas, Peter and Francisco	7 years ago
priseborough	3b32d583a9	AP_NavEKF2: Fix delta time use error	7 years ago
priseborough	440d361aff	AP_NavEKF2: Limit range of delta times	7 years ago
Andrew Tridgell	97729a12f0	AP_NavEKF2: don't run IMU updates until buffer fills ... this prevents us using bad initial data multiple times. It fixes a bug where the IMU may pause during EK2 initialisation	7 years ago
Andrew Tridgell	4019a167a9	AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()	7 years ago
Samuel Tabor	1b4705242c	AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available	7 years ago
priseborough	efdc651d1a	AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter ... Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.	7 years ago
Lucas De Marchi	3c04f4e4d1	AP_NavEKF2: add static create method	7 years ago
Peter Barker	1e83ef3c44	AP_NavEKF2: use rangefinder backend accessors	8 years ago
priseborough	f2f3067326	AP_NavEKF2: Add interface to control GPS vertical velocity use	8 years ago
Michael du Breuil	dffa3d3b40	AP_NavEKF2: Fix possible compass nullptr dereference	8 years ago
priseborough	ac568bae53	AP_NavEKF2: Initialise EKF origin height to field elevation ... Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.	8 years ago
priseborough	027552ef44	AP_NavEKF2: Fix default behaviour for height origin corrections ... Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.	8 years ago
Peter Barker	5da3759ff4	AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all	8 years ago
Randy Mackay	7e7f78d4b5	AP_NavEKF2: final mag reset at 2.5m	8 years ago
priseborough	c69c5440a0	AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator	8 years ago
priseborough	ce8e935896	AP_NavEKF2: Fix terrain estimator innovation consistency check	8 years ago
priseborough	b7e6e6f95f	AP_NavEKF2: Fix bug in flow fusion for terrain estimation ... Also remove unused class variables	8 years ago
Andrew Tridgell	cbffc29f0b	AP_NavEKF2: use AHRS likely flying state ... this sets inFlight when AHRS has indicated flying for 5s	8 years ago
priseborough	647db728ce	AP_NavEKF2: Improve is flying check for non fly forward vehicles ... Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	7426bdb9b7	AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter	8 years ago
priseborough	b42fb31d7d	AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK ... Turn off by default. Update parameter description	8 years ago
priseborough	fd25450632	AP_NavEKF2: Ensure reported local height = global height - origin height	8 years ago
priseborough	77d21f72d4	AP_NavEKF2: Allow reporting of origin height for specified instance	8 years ago
priseborough	36e7dfb5f6	AP_NavEKF2: 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
priseborough	1985dcd366	AP_NavEKF2: Fix bug in declination fusion	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	3f6059397c	AP_NavEKF2: Add missing @RebootRequired: True	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	38b19b9eee	AP_NavEKF2: 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	ce37517268	AP_NavEKF2: Improve comments, typos	8 years ago
priseborough	2d4eee0cce	AP_NavEKF2: documentation update	8 years ago
Andrew Tridgell	2de8777669	AP_NavEKF2: 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	e48f46c98b	AP_NavEKF2: Add monitoring of average EKF time step	8 years ago
priseborough	082f429da3	AP_NavEKF2: 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	ee5c032f27	AP_NavEKF2: added recording of timing statistics	8 years ago
priseborough	596b20eb07	AP_NavEKF2: close perf counter when doing early return	8 years ago
priseborough	88469ce80c	AP_NavEKF2: Reset covariance if bad mag fusion update	8 years ago
Andrew Tridgell	d799bacd7d	AP_NavEKF2: fixed reset of coviariance matrix	8 years ago
Randy Mackay	b255c7b370	AP_NavEKF: add setOrigin	8 years ago
Andrew Tridgell	9f3c2cb704	AP_NavEKF2: allow access to quaternion for each instance	8 years ago
Jonathan Challinger	c53125f3b5	AP_NavEKF2: apply height innovation floor only when barometer is in use	8 years ago
Jacob Walser	646d68c76d	AP_NavEKF2: Fix parameter metadata	8 years ago
priseborough	44fa82d58c	AP_NavEKF2: Reference correct derivation	8 years ago
priseborough	407a60e599	AP_NavEKF2: log correct GPS for replay	8 years ago
priseborough	8c46d4316b	AP_NavEKF2: 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
priseborough	b7c4945000	AP_NavEKF2: 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	563be389ee	AP_NavEKF2: only use downward facing rangefinder	8 years ago
Michael du Breuil	8b69f1708e	NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF	8 years ago
Jacob Walser	e7a34b0fb3	AP_NavEKF2: Add set_baro_alt_noise method	8 years ago
priseborough	1a7b5538e5	AP_NavEKF2: Enable simple heading fusion to be set for specific cores	8 years ago
priseborough	a1d41edc4e	AP_NavEKF2: 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