ddc4d08e8f
AP_NavEKF3: make drag fusion optional
4 years ago
1ccda938cb
AP_NavEKF3: make external navigation optional
4 years ago
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
4 years ago
3582b69e9c
AP_NavEKF3: remove getFilterTimeouts access methods
4 years ago
b3bacdd33c
AP_NavEKF3: remove internal-only getTiltError method
4 years ago
5ad0ac6727
AP_NavEKF3: remove unused getAccelNED method
4 years ago
099d6aa72e
AP_NavEKF3: add filter reset when vehicle is idle for too long
4 years ago
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
4 years ago
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
4 years ago
6850b48ea1
AP_NavEKF3: add comments for yaw sensor variables
4 years ago
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
4 years ago
9cb529cfd6
AP_NavEKF3: minor formatting fix
...
also replace tab with spaces
4 years ago
908b348c31
AP_NavEKF3: Fix typo in enum label
4 years ago
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
4 years ago
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
4 years ago
8f32430294
AP_NavEKF3: Fix white spaces
4 years ago
4884476c09
AP_NavEKF3: Formatting and comment fixes
4 years ago
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
4 years ago
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
...
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
4 years ago
e972fb31b1
AP_NavEKF3: remove unused variables
4 years ago
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
4 years ago
2885026bba
AP_NavEKF3: move tasHealth to be a stack variable
4 years ago
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
4 years ago
2d25149e2e
AP_NavEKF3: move global state to be on the stack
4 years ago
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
4 years ago
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
4 years ago
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
4 years ago
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
4 years ago
9716b09cad
AP_NavEKF3: minor indenting fix
4 years ago
6c0bb6a198
AP_NavEKF3: add convert_params for source
4 years ago
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
4 years ago
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
4 years ago
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
4 years ago
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
4 years ago
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
4 years ago
faed58a027
AP_NavEKF3: integrate Source for yaw
4 years ago
8931e50166
AP_NavEKF3: integrate Source for alt
4 years ago
c21d58ebea
AP_NavEKF3: integrate Source for position
4 years ago
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
...
these don't work with AP_DAL
4 years ago
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
...
saves a bit of flash space
4 years ago
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
6c7820dd8d
AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL
4 years ago
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
4 years ago
4e41e9f5f1
AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order
...
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
4 years ago
73d5ca5ad3
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
...
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
4 years ago
a97d030e4b
AP_NavEKF3: Reset earth field variances when starting mag field estimation
4 years ago
c3fd82b6d7
AP_NavEKF3: minor spelling fix
4 years ago
2f1ae29a9c
AP_NavEKF3: extnav data gets corrected boolean
...
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
4 years ago
71487e9c10
AP_NavEKF3: gps_elements gets corrected flag
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CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
4 years ago
Andrew Tridgell
Peter Barker
Andy Piper
Randy Mackay
Paul Riseborough
Paul Riseborough