07d621c4be
AP_NavEKF: used state structure in more places
...
makes the code a bit easier to read
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
11 years ago
cd3038fabd
AP_NavEKF: fixed return of offset in getVariances()
11 years ago
04036d7777
AP_NavEKF : Updated GPS glitch protection logic
...
This adds new functionality to the detection and compensation of GPS
glitches:
1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
11 years ago
17cdac7bc8
AP_NavEKF : Clean up angle and mag field initialisation
...
This path reduces duplicated code, eliminates unused variables and
causes the earth magnetic field states to be reset when exiting static mode
which will occur every time copter is armed. This enables copters to be
powered on and initialised inside vehicles or houses, without bad earth
field values affecting flight.
11 years ago
f7007569d1
AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125
...
msec
11 years ago
35811758d7
AP_NavEKF : Update comments and remove un-used function declarations
11 years ago
7b3130cfcc
AP_NaVEKF : Enable operation without airspeed and compass
11 years ago
3a5acb9cea
AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment
11 years ago
b47a11edf6
AP_NavEKF : improved static and on-ground mode selection logic
11 years ago
2019708056
AP_NavEKF : Make all compass use autodetect
11 years ago
e485b246e7
AP_NavEKF : update comments
11 years ago
c8bd415b00
AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer
11 years ago
52fabc822f
AP_NavEKF : Add low speed magnetometer calibration option
11 years ago
449d09051e
AP_NavEKF: cope with compass going offline while in flight
11 years ago
bd152d332c
AP_NavEKF : Add accel aliasing protection
11 years ago
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
11 years ago
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
11 years ago
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
11 years ago
c9d0c1face
AP_NavEKF: use ahrs->get_armed() for static mode demanded
11 years ago
536160a3fb
AP_NavEKF: use AHRS get_correct_centrifugal()
11 years ago
869e41fd03
AP_NavEKF: fixed detection of airspeed sensor
...
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
11 years ago
1ade39977a
AP_NavEKF : covariance prediction cleanup
11 years ago
8daca145d0
AP_NavEKF : useAirspeed set automatically
11 years ago
6fbada26d3
AP_NavEKF : Improvements to staticMode robustness
11 years ago
b22dc706b2
AP_NavEKF : staticMode bugfix and robustness improvements
11 years ago
b56c8211c9
AP_NavEKF: Reduced number of Mavlink tuneable parameters
11 years ago
c20fac1269
AP_NavEKF: Updated comments for private functions
11 years ago
deb64c4cbd
AP_NavEKF: Pos Vel reset after long GPS timeout
11 years ago
80f6dba694
AP_NavEKF: Improved control of fusion update intervals
11 years ago
13b9daeff5
AP_NavEKF: Added constraints to Mavlink tuneable parameters
11 years ago
b123e1bb16
AP_NavEKF: Improved in-air reset behaviour
11 years ago
1651980b9f
AP_NavEKF: Improved behaviour following loss and regaining of GPS
11 years ago
14eb63e7c9
AP_NavEKF: Made most tuning parameters Mavlink adustable
11 years ago
f800f5592d
AP_NavEKF: fixup parameter handling
11 years ago
f0f76920fa
AP_NavEKF : Mavlink tunable parameter - first attempt
11 years ago
128f71157d
AP_NavEKF: Fixed bug in pre GPS fix updates
11 years ago
5219869389
AP_NavEKF : Added Z accel bias state and bootstrap initialisation method
11 years ago
7c73020015
AP_NavEKF: make params public so they can be tuned
11 years ago
5c3dea28dc
AP_NavEKF : Enable staticMode to be set externally
11 years ago
2f3b2a7111
AP_NavEKF: second attempt at higher rate baro fusion
11 years ago
da2c341914
Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed"
...
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
11 years ago
32cc427ff4
AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed
11 years ago
2998aa1a6a
AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions
11 years ago
619fffec3e
AP_NavEKF: added static mode for pre-arm and bench testing
11 years ago
d0831c708d
AP_NavEKF : Added position and height reset public method
11 years ago
4c42f53636
AP_NavEKF: use INS delta_time
11 years ago
6e6e3d923e
AP_NavEKF: improved covariance matrix numerical stability protection
11 years ago
66dbaa6657
AP_NavEKF: make health() API const
11 years ago
4a56ea84b5
AP_NavEKF: Removed accel bias states
11 years ago
2acf1e7ce5
AP_NavEKF: allow filter to run as single or double precision
...
useful for checking if there are numerical precision issues
11 years ago
Andrew Tridgell
priseborough
Randy Mackay