103d1aea41
AP_NavEKF: added gps_quality_good EKF flag
7 years ago
ac9d5f8a5c
AP_NavEKF: Make the status unions use bool, add static asserts
7 years ago
6a91b294b4
AP_NavEKF: Clarify definition for gps_glitching flag
7 years ago
7d777485d8
AP_NavEKF: Add monitoring of average EKF time step
8 years ago
ae3df89d17
AP_NavEKF: added ekf_timing structure
8 years ago
61023fc636
NavEKF: Add GPS vertical accuracy to nav_gps_flags
8 years ago
bb29c74e52
AP_NavEKF: remove EKF1
8 years ago
f54cf6e097
AP_NavEKF: storeIndex remove second initialisation
8 years ago
de153ce1d7
AP_NavEKF: Correct the setting process of variable dAngBiasSigma.
8 years ago
ec42ddfb4e
AP_NavEKF: style changes (tab to spaces, etc.)
...
AP_NavEKF: style changes (tab to spaces, etc.)
AP_NavEKF: style changes (tab to spaces, etc.)
8 years ago
a05d216ce4
AP_NavEKF: make posOffset const ref for optflow
8 years ago
b40016db62
AP_NavEKF2: Fix documentation errors
8 years ago
8160eca47e
AP_NavEKF: update flow sensor interface
...
Adds a position offset which is not used by the backend
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
d0ba259d0d
AP_NavEKF: Fix bug in median filter code
8 years ago
3eba985afd
AP_NavEKF: use exact matrix for trim rotation
8 years ago
e63e7a5336
AP_NavEKF: comment that param "Enable" index is moved to top
9 years ago
b3bfb71431
AP_NavEKF: fix documentation errors
9 years ago
487bbc3ed2
AP_NavEKF: Fix reporting of position status
...
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
9 years ago
d33bbf8cc7
AP_NavEKF: remove debug code
9 years ago
d59d8cc6e3
AP_NavEKF: extend fusion fault reporting coverage
9 years ago
267a74ebb2
AP_NavEKF: Fix typos
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
6938e3d57b
AP_NavEKF: check mag instance id when returning mag offsets
9 years ago
bb0d96cedd
AP_NavEKF: replace header guard with pragma once
9 years ago
11760c33f6
AP_NavEKF: avoid use of undefined #defines
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Ensure EKF_DISABLE_INTERRUPTS is defined
Do not define MATH_CHECK_INDEXES, assume it is defined
9 years ago
1950008248
AP_NavEKF: Send correct data over mavlink status message
9 years ago
eabede692e
AP_SmallEKF: move to AP_Mount/SoloGimbalEKF and merge solo version
9 years ago
a6c39dee84
AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory
9 years ago
a0a4b698f6
AP_NavEKF: disable EKF1 by default
...
use EKF2 instead
9 years ago
0ef61b1637
AP_NavEKF: moved ENABLE param to front of list
...
and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
9 years ago
28a684ea03
AP_NavEKF: use get_loop_delta_t() from INS
9 years ago
a042845da8
AP_NavEKF: avoid an optimiser bug in clang
9 years ago
34d5dd0257
AP_NavEKF: fix invalid Range meta data
9 years ago
d24f6f4050
AP_NavEKF: fixed static const bug
9 years ago
798b743660
AP_NavEKF: use MAX() instead of maxf()
9 years ago
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
9 years ago
40caec8afb
AP_NavEKF: libraries_Text_revision
...
text revision of messages
9 years ago
e3c317b96b
AP_NavEKF: use millis/micros/panic functions
9 years ago
5561efde2b
AP_NavEKF: we can assume get_sample_rate() returns a non-zero number
...
this fixes a build error with the previous patch
9 years ago
e32e6cfa67
AP_NavEKF: Protect against bad delta time from the INS library
...
Prevent arithmetic divide by zero exceptions and handle invalid delta time in a consistent way by setting invalid times to the average.
9 years ago
259f5f07e8
AP_NavEKF_core: fix init of perf
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_perf_FuseOptFlow was used and not allocated
9 years ago
e8305c5653
AP_NavEKF: Prevent front-end from returning uninitialised data (garbage)
9 years ago
0f8cfa02ab
AP_NavEKF: Remove redundant if statement
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Thank you to OXINARF for picking up this one
9 years ago
2243f95074
AP_NavEKF: Enable clean entry into GPS aiding whilst in-flight
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Ensures that the latest GPS data is used to reset the states.
Separates the logic used to set the origin from the logic used to determine when to reset states and commence GPS aiding
9 years ago
624f169b9b
AP_NavEKF: Publish enabled status
9 years ago
392fce76b2
AP_NavEKF: define getGpsGlitchStatus function
9 years ago
56909ce973
AP_NavEKF: split EKF1 into frontend and backend
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this allows the primary EKF to be allocated dynamically, allowing for
experiments with EKF2 with multi-IMU support
9 years ago
d00c8e3a34
AP_NavEKF: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
9 years ago
9b37c29efa
AP_NavEKF: Improve mag earth state reset accuracy
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This removes errors in the in-flight reset of the earth field states by:
1) Using a state vector and magnetometer measurement from the same time coordinate
2) Not using the AHRS trim offsets in the calculation
9 years ago
Andrew Tridgell
Michael du Breuil
priseborough
Pierre Kancir
murata
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger
Ricardo de Almeida Gonzaga
dgrat
Lucas De Marchi
Peter Barker
Don Gagne
Luis Vale Gonçalves
Caio Marcelo de Oliveira Filho
Paul Riseborough
Julien BERAUD
Siddharth Bharat Purohit