1400dc9d02
AP_NavEKF2: Add tuning parameters for magentic yaw fusion
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Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
9 years ago
71b589c89c
AP_NavEKF2: extend fusion fault reporting coverage
9 years ago
ea508f1b80
AP_NavEKF2: use LOG_REPLAY and EK2_LOG_MASK parameters
9 years ago
32af886ba9
AP_NavEKF2: use consistent logging timestamps for sensors
9 years ago
4e4c575f16
AP_NavEKF2: added have_ekf_logging()
9 years ago
223c512188
AP_NavEKF2: added logging of sensor data in EKF2
9 years ago
f92279f436
AP_NavEKF2: allow logging of IMT data from inside EKF2
9 years ago
97112ccd44
AP_NavEKF2: check mag instance id when returning mag offsets
9 years ago
e40b87cd0e
AP_NavEKF2: replace header guard with pragma once
9 years ago
7e05646316
AP_NavEKF2: Improvements to non-GPS performance
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Change to user adjustable fusion of constant position (as per legacy EKF) instead of constant velocity.
Enable user to specify use of 3-axis magnetometer fusion when operating without aiding.
Don't allow gyro scale factor learning without external aiding data as it can be unreliable
9 years ago
20923da23a
AP_NavEKF2: Allow tuning of non-GPS mode
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Eliminate the use of horizontal position states during non-aiding operation to make it easier to tune.
Explicitly set the horizontal position associated Kalman gains to zero and the coresponding covariance entries to zero after avery fusion operation.
Make the horizontal velocity observation noise used during non-aiding operation adjustable.
Use a fixed value of velocity noise during initial alignment so that the flight peformance can be tuned without affecting the initial alignment.
9 years ago
f9cadaf15c
AP_NavEKF2: Increase resolution of innovation consistency gate parameters
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Also adds protection against setting the gate to a number that would casue numerical errors.
9 years ago
6522fb2621
AP_NavEKF2: Allow user to relax pre-flight GPS checks
9 years ago
577670ccee
AP_NavEKF2: Reduce memory required by 6KB when running at 400Hz
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Down-sample the IMU and output observer state data to 100Hz for storage in the buffer.
This reduces storage requirements for Copter by 75% or 6KB
It does not affect memory required by plane which already uses short buffers due to its 50Hz execution rate.
This means that the EKF filter operations operate at a maximum rate of 100Hz.
The output observer continues to operate at 400Hz and coning and sculling corrections are applied during the down-sampling so there is no loss of accuracy.
9 years ago
f00b1ff22d
AP_NavEKF2: Publish the magnetometer selection index
9 years ago
0b64ad0123
AP_NavEKF2: Enable EKF instance to be specified when requesting public data
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Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
9 years ago
6c2dc3ccf8
AP_NavEKF2: Publish the number of instances
9 years ago
2dcaeb0304
AP_NavEKF2: Update publishing of primary core index
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Changes made in response to review comments
9 years ago
b24507d33c
AP_NavEKF2: Publish the primary EKF index
9 years ago
2ab2afc86a
AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs
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no voting between multiple IMUs yet
9 years ago
b6d63d4b4e
AP_NavEKF2: Fix reporting of pre-flight GPS checks
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Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
9 years ago
94adaba305
AP_NavEKF2: constify getLastPosNorthEastReset
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Also constify getLastVelNorthEastReset
9 years ago
52ed075405
AP_NavEKF2: constify getLastYawResetAngle
9 years ago
74da4d8e57
AP_NavEKF2: Remove GPS glitch offset logic
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Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.
9 years ago
35b08849f7
AP_NavEKF2: Reduce effect of rounding errors on covariance prediction
9 years ago
47ae0f35f6
AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
9 years ago
52fd369b2f
AP_NavEKF2: Add methods to output and calculate vertical position derivative
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This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
9 years ago
20a3f9782e
AP_NavEKF2: Add full set of selectable pre-flight GPS checks
9 years ago
22920aafad
AP_NavEKF2: Improve GPS status reporting
10 years ago
325f4139fe
AP_NavEKF2: Clean up mode change logic
10 years ago
015f700bc0
AP_NavEKF2: getLastYawResetAngle returns last reset time
10 years ago
80e182f827
AP_NavEKF2: Update EKF2 data logging
10 years ago
4acd6c129a
AP_NavEKF2: Update parameters
10 years ago
4a7714e15d
AP_NavEKF2: Remove unused parameters and improve naming consistency
10 years ago
8afb26087d
AP_NavEKF2: Remove unused function
10 years ago
fe76662faf
AP_NavEKF2: added set_enable() API
10 years ago
cbc62238a9
AP_NavEKF2: run astyle for reformatting
10 years ago
760dafbb9d
AP_NavEKF2: added enabled() function
10 years ago
b4555f30a5
AP_NavEKF2: added frontend calls to core code
10 years ago
3ac75aeffb
AP_NavEKF2: added EK2_ENABLE parameter
10 years ago
f500474a86
AP_NavEKF2: initial import of new maths EKF
10 years ago
Paul Riseborough
Andrew Tridgell
Jonathan Challinger
Lucas De Marchi
Paul Riseborough
Randy Mackay