Tree: 66a2c10203

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Commit Graph

51 Commits (66a2c1020312b8d78ecc034e3e3e31432d5a20e3)

Author	SHA1	Message	Date
Michael du Breuil	25ef5fed82	AP_NavEKF3: Suppress clearing non-trival type warning	6 years ago
Peter Barker	281fad53c2	AP_NavEKF3: always set EKF control limits, even with no cores	6 years ago
Peter Barker	be9235a581	AP_NavEKF3: fix writeOptFlowMeas signature ... const some of the vectors, stop taking references to scalars that aren't being changed	7 years ago
Randy Mackay	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
Peter Barker	6bf5ffdb6d	AP_NavEKF3: use compass singleton for logging	7 years ago
Peter Barker	901ba0034c	AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton	7 years ago
Peter Barker	a0d874baa2	AP_NavEKF3: const accessors	7 years ago
Peter Barker	6791808ac6	AP_NavEKF3: remove unneeded initialisations ... AP_NavEKF3 should never be allocated in uninitialised memory	7 years ago
Peter Barker	d38ff1dd2c	AP_NavEKF3: initialise EKF3 constants in declaration not constructor	7 years ago
Peter Barker	55b8a2288e	AP_NavEKF3: use ins singleton	7 years ago
Peter Barker	7b1a906c4e	AP_NavEKF3: use baro singleton	7 years ago
bugobliterator	ea2a880d8a	AP_NavEKF3: allocate from MEM_FAST region	7 years ago
Peter Barker	5dc714bf5f	AP_NavEKF3: use GPS singleton	7 years ago
priseborough	2310cb6d19	AP_NavEKF3: Enable external control over use of GPS vertical velocity	8 years ago
priseborough	c7f6d52065	AP_NavEKF3: Add wheel encoder odometry ... Uses the existing body frame odometry observation model. Handles each sensored wheel as a separate sensor.	8 years ago
priseborough	593437ca95	AP_NavEKF3: Add tuning of visual odometry observation error ... Also adjust default values based on replay analysis.	8 years ago
priseborough	0827b13feb	AP_NavEKF3: 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	93e09c51d3	AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	6a01c65197	AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)	8 years ago
priseborough	49ec2b4032	AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK ... Turn off by default. Update parameter description.	8 years ago
priseborough	3ae7998f51	AP_NavEKF3: Allow reporting of origin height for specified instance	8 years ago
priseborough	2b97d0f5c9	AP_NavEKF3: Add public accessor for state variances	8 years ago
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	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
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
Andrew Tridgell	adb281cd4e	AP_NavEKF3: added timing statistics logging	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	18927395d7	AP_NavEKF3: log correct GPS for replay	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
Michael du Breuil	1de198883d	AP_NavEKF3: Check gps vertical accuracy for aligning the GPS	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	4d958952f6	AP_NavEKF3: use standard unit descriptor for milliseconds	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	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	8d1733cee6	AP_NavEKF3: Use FIR filtered airspeed ... Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update. This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise. The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.	8 years ago
priseborough	9261c34097	AP_NavEKF3: Update default GPS delay ... This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.	8 years ago
priseborough	ed5039823f	AP_NavEKF3: Adapt sensor buffer lengths ... Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates. This does require the EKF to be re-started if time delays are changed.	8 years ago
priseborough	92b8c33b19	AP_NavEKF3: publish 3-state range beacon estimator states	8 years ago
priseborough	e5e4883c72	AP_NavEKF3: Fix GPS use inhibit interface documentation	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	cae557fb4c	AP_NavEKF3: Correct display names, bitmask and units	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	195e32c2fc	AP_NavEKF3: fix some parameter descriptions	8 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	d408d25f92	More spelling stuff	8 years ago
priseborough	f1c05ee320	AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted	8 years ago
priseborough	7d4a50f483	AP_NavEKF3: Prevent unwanted core switch on startup ... Require primary core to be healthy for 10 seconds before starting selection logic	8 years ago
priseborough	cd6fd0ea45	AP_NavEKF3: Improvements to range finder selection logic ... Enables the horizontal speed at which we switch from range finder to alternate to be adjusted. Does not switch from range finder to alternate based on speed when speed estimate is invalid.	8 years ago
priseborough	7202acc1b5	AP_NavEKF3: Default EKF3 to off ... Will revert this and set EKF2 to off by default after testing is completed on all platform types	8 years ago