a9b2b9dddf
AP_NavEKF2: Delete unused definitions
7 years ago
1e011c0c15
AP_NavEKF2: Clarify the message
7 years ago
fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
7 years ago
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
81044760c7
AP_NavEKF2: const accessors
7 years ago
12fd19ea26
AP_NavEKF2: Clarify definition for gps_glitching flag
7 years ago
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
7 years ago
40957ec430
AP_NavEKF2: use ins singleton
7 years ago
5ab89324b2
AP_NavEKF2: use baro singleton
7 years ago
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
7 years ago
dbe860152d
AP_NavEKF2: tight types on constants
...
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
7 years ago
3a99b2bce1
AP_NavEKF: move initialisation of EKF constants into header file
...
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
7 years ago
b1213a522d
AP_NavEKF2: allocate NavEKF core from MEM_FAST region
7 years ago
9c8466dc03
AP_NavEKF2: use GPS singleton
7 years ago
171e80d8dc
AP_NavEKF2: only report terrain estimator innovations with valid rng value
7 years ago
4d4e66d825
AP_NavEKF2: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
3b32d583a9
AP_NavEKF2: Fix delta time use error
7 years ago
440d361aff
AP_NavEKF2: Limit range of delta times
7 years ago
97729a12f0
AP_NavEKF2: don't run IMU updates until buffer fills
...
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
7 years ago
4019a167a9
AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()
7 years ago
1b4705242c
AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available
7 years ago
efdc651d1a
AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter
...
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
7 years ago
3c04f4e4d1
AP_NavEKF2: add static create method
7 years ago
1e83ef3c44
AP_NavEKF2: use rangefinder backend accessors
8 years ago
f2f3067326
AP_NavEKF2: Add interface to control GPS vertical velocity use
8 years ago
dffa3d3b40
AP_NavEKF2: Fix possible compass nullptr dereference
8 years ago
ac568bae53
AP_NavEKF2: Initialise EKF origin height to field elevation
...
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
8 years ago
027552ef44
AP_NavEKF2: 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
5da3759ff4
AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
7e7f78d4b5
AP_NavEKF2: final mag reset at 2.5m
8 years ago
c69c5440a0
AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator
8 years ago
ce8e935896
AP_NavEKF2: Fix terrain estimator innovation consistency check
8 years ago
b7e6e6f95f
AP_NavEKF2: Fix bug in flow fusion for terrain estimation
...
Also remove unused class variables
8 years ago
cbffc29f0b
AP_NavEKF2: use AHRS likely flying state
...
this sets inFlight when AHRS has indicated flying for 5s
8 years ago
647db728ce
AP_NavEKF2: Improve is flying check for non fly forward vehicles
...
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
8 years ago
7426bdb9b7
AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter
8 years ago
b42fb31d7d
AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK
...
Turn off by default.
Update parameter description
8 years ago
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
8 years ago
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
8 years ago
36e7dfb5f6
AP_NavEKF2: 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
1985dcd366
AP_NavEKF2: Fix bug in declination fusion
8 years ago
3f6059397c
AP_NavEKF2: Add missing @RebootRequired : True
8 years ago
38b19b9eee
AP_NavEKF2: 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
ce37517268
AP_NavEKF2: Improve comments, typos
8 years ago
2d4eee0cce
AP_NavEKF2: documentation update
8 years ago
2de8777669
AP_NavEKF2: 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
e48f46c98b
AP_NavEKF2: Add monitoring of average EKF time step
8 years ago
082f429da3
AP_NavEKF2: Fix solution validity reporting bug
...
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
8 years ago
ee5c032f27
AP_NavEKF2: added recording of timing statistics
8 years ago
596b20eb07
AP_NavEKF2: close perf counter when doing early return
8 years ago
murata
Andrew Tridgell
Peter Barker
priseborough
bugobliterator
Pierre Kancir
Samuel Tabor
Lucas De Marchi
Michael du Breuil
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas