3e061b174e
AP_NavEKF: Report unhealthy for all filter faults
10 years ago
6c4c54c2ba
AP_NavEKF: Use default on ground range parameter from range finder object
10 years ago
10476333d8
AP_NavEKF: don't run when previously disarmed and time has slipped
10 years ago
085faaac6a
AP_NavEKF: fix delay detection so that filter properly resets after a delay
10 years ago
1c8e3f9444
AP_NavEKF: Allow EKF to pull data from range finder object
10 years ago
4a5bf0a266
AP_NavEKF: Reduce EKF start time
...
Makes EKF start conditional on DCM solution tilt error
10 years ago
e59c6ddbae
AP_SmallEKF: increase start-up time of the SmallEKF
10 years ago
4ad3e786a5
AP_NavEKF: fix initialization of the SmallEKF
...
The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
10 years ago
1d9beed42f
AP_SmallEKF: add function to report if the EKF is stable
10 years ago
7b28bf7d44
AP_NavEKF: Remove small EKF dependency on navigation EKF
10 years ago
4586de6637
AP_NavEKF: enable optimisation in Linux build
...
only really need debugging for SITL
10 years ago
dffa2e19bf
AP_NavEKF: Make copter glitch accel consistent with timeout and radius
10 years ago
5d70854c08
AP_NavEKF: Fix minor bug in calculation of innovation variance
...
the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
10 years ago
1008c6390c
AP_NavEKF: Fail absolute position status if GPS repeatedly rejected
10 years ago
77d3798278
AP_NavEKF: Reduce recovery time after a GPS fusion timeout
10 years ago
0852aeab6e
AP_NavEKF: Allow raw innovations to be monitored during timeouts
10 years ago
d3f4b4a02b
AP_NavEKF: Fix name consistency for data check time stamps
10 years ago
e79ccf1fcc
AP_NavEKF: Fix bug allowing terrain to be above vehicle position
...
The terrain state and vehicle state need to be compared at the same time horizon.
10 years ago
6d58c63c4c
AP_NavEKF: Prevent potential divide by zeros in OF fusion
10 years ago
89142f1c5f
AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates.
...
the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
10 years ago
9268024094
AP_NavEKF: Update default parameters for copter optical flow fusion
10 years ago
4fbdab27ff
AP_NavEKF: Use range finder for primary hgt ref in opt flow mode
...
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
10 years ago
d618c55e2f
AP_NavEKF: Improved handling of noisy GPS speed accuracy data
10 years ago
e98edaa6cb
AP_NavEKF: Return more accurate validity status for height above ground
10 years ago
586e4a7d2b
AP_NavEKF: Add Matlab derivations and simulations behind small EKF
10 years ago
c57e25142c
AP_NavEKF: Update optical flow fusion maths to reduce height errors
10 years ago
55befdc345
AP_NavEKF: Typo correction for EAS_NOISE description
10 years ago
9b3656e77c
AP_NavEKF: Fix bug introduced in Y axis flow fusion
10 years ago
baf292def1
AP_NavEKF: prevent float exception on startup
10 years ago
7fc0f026d2
AP_NavEKF: Fix bug in optical flow innovation variance integrity check
...
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
10 years ago
c1a0375562
AP_NavEKF: prevent divide by zero in EKF logging
10 years ago
10f050c53b
AP_NavEKF: Prevent baro drift causing toilet bowling
...
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
10 years ago
d4c60ca956
AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout
10 years ago
95cd3480ec
AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary
...
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
10 years ago
79b44d3988
AP_NavEKF: initialise gndEffectMode
10 years ago
3165c43dfe
AP_NavEKF: initialise gpsSpdAccuracy
10 years ago
98c32012fa
AP_NavEKF: remove accel bias rate limit when disarmed
10 years ago
fe76cb4c0b
AP_NavEKF : Make initial height variance consistent with baro noise
...
This makes sense to do because we initialise the state to the instantaneous baro reading
10 years ago
a976e9dad2
AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance
10 years ago
92df3adb5e
AP_NavEKF : Fix bug in Z accel bias update for IMU1
10 years ago
5d0952ba23
AP_NavEKF: eliminate onGndBaroNoise
10 years ago
fafb898341
AP_NavEKF: tuning change to accel bias learning
10 years ago
398accd151
AP_NavEKF: Improve pre-flight ready checking
10 years ago
5c1a226bef
AP_NavEKF : Improvements to pre-arm IMU bias estimation
10 years ago
a5924acb3d
AP_NavEKF: set dtIMU from ins expected sample rate
10 years ago
a1351e73ab
AP_NavEKF : Compensate mag bias states for external copass offset changes
10 years ago
14795719f6
AP_NavEKF: Add public function for estimated magnetometer offsets
10 years ago
1c244af3d8
AP_NavEKF: Fix bug affecting in-flight GPS acquisition
...
This bug caused velocities to be reset to zero
10 years ago
b9b6938b1d
AP_NavEKF: Add ability to start using GPS in-flight
...
Improve the quality of the GPS required to set an EKF origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
10 years ago
98fa918b84
AP_NavEKF: Add new compass learning option
...
Enables compass learning to be on continuously for non-position hold operation
10 years ago
Paul Riseborough
Jonathan Challinger
Arthur Benemann
Andrew Tridgell
myly10