79ee52917f
AP_NavEKF2: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
6 years ago
78b165e36f
AP_NavEKF2: fixed typos
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
8a6a39b590
AP_NavEKF3: unify singleton naming to _singleton and get_singleton()
6 years ago
ccc1f906f8
AP_NavEKF2: fixed EKF compass switching
...
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
6 years ago
3766ee1b60
AP_NavEKF2: add external navigation data lag
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
ebd12b30e8
AP_NavEKF2: adjust for Location_Class and Location unification
6 years ago
9be604e3ce
AP_NavEKF2: adjust for location flags being moved out of union
6 years ago
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
49d20364cb
AP_NavEKF2: pass quaternion by const reference
6 years ago
8ea7df3efe
AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed
6 years ago
29db069c75
AP_NavEKF2: Suppress clearing non-trival type warning
6 years ago
1e56ad4837
AP_NavEKF2: add external nav system to POSNE_M_NSE description
6 years ago
08b9bf4a89
AP_NavEKF2: fix extNav position noise
6 years ago
805647df85
AP_NavEKF2: enable use of in-flight compass learning
6 years ago
1c1d651979
AP_NavEKF2: add space for null-termination
...
This is simply to preserve existing behaviour when snprintf starts to
null-terminate strings
6 years ago
3a79ae4eca
AP_NavEKF2: use union to alias array and struct access to states
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This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on which
is deemed faster - not a good outcome.
6 years ago
fb176b544f
AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES
6 years ago
889190d46e
AP_NavEKF2: always set EKF control limits, even with no cores
6 years ago
3774aa6619
AP_NavEKF2: remove default clause in setAidingMode
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All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
6 years ago
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
6 years ago
d8aa8d2b71
AP_NavEKF2: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
7 years ago
3d72022f6e
EKF: modify ALT_SOURCE param description
...
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
7 years ago
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
7 years ago
59e087214f
AP_NavEKF2: spell in comments (NFC)
7 years ago
baa818a812
AP_NavEKF2: use compass singleton for logging
7 years ago
a9b2b9dddf
AP_NavEKF2: Delete unused definitions
7 years ago
1e011c0c15
AP_NavEKF2: Clarify the message
7 years ago
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
7 years ago
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
81044760c7
AP_NavEKF2: const accessors
7 years ago
12fd19ea26
AP_NavEKF2: Clarify definition for gps_glitching flag
7 years ago
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
7 years ago
40957ec430
AP_NavEKF2: use ins singleton
7 years ago
5ab89324b2
AP_NavEKF2: use baro singleton
7 years ago
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
7 years ago
dbe860152d
AP_NavEKF2: tight types on constants
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This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
7 years ago
3a99b2bce1
AP_NavEKF: move initialisation of EKF constants into header file
...
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
7 years ago
b1213a522d
AP_NavEKF2: allocate NavEKF core from MEM_FAST region
7 years ago
9c8466dc03
AP_NavEKF2: use GPS singleton
7 years ago
171e80d8dc
AP_NavEKF2: only report terrain estimator innovations with valid rng value
7 years ago
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
3b32d583a9
AP_NavEKF2: Fix delta time use error
7 years ago
440d361aff
AP_NavEKF2: Limit range of delta times
7 years ago
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
4019a167a9
AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()
7 years ago
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
Tom Pittenger
Andrew Tridgell
chobits
Peter Barker
Randy Mackay
Pierre Kancir
Michael du Breuil
chobitsfan
murata
priseborough
bugobliterator