cb0f7cb370
NavEKF2: use new perf counter API
9 years ago
60c2e81d19
AP_NavEKF2: Apply optimisations to declination fusion covariance update
...
These are the same type of optimisations that were successful with the magnetometer fusion
9 years ago
b5e43288d4
AP_NavEKF2: Down to 12 from 14 usec for perf test[8]
9 years ago
d1dfd5fd01
AP_NavEKF2: use common header for optimisation level and irq disable
9 years ago
a017ae7e00
AP_NavEKF2: down to 218us for test[9]
9 years ago
fc23be8025
AP_NavEKF2: enable fine grained perf tuning for mag fusion
9 years ago
824436dfb6
AP_NavEKF2: Explicitly define constants as floats
9 years ago
1a1236f764
AP_NavEKF2: Update magnetometer fusion documentation
9 years ago
8526a8ba7e
AP_NavEKF2: Level processor loading between frames
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Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
9 years ago
baa8692960
AP_NavEKF2: Allow use of magnetometer learning during optical flow nav
...
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
9 years ago
1b8a93ef0c
AP_NavEKF2: Update function header comments
9 years ago
84a02efd52
AP_NavEKF2: Improve efficiency of Z magnetometer fusion
9 years ago
99c2dc41e0
AP_NavEKF2: Miscellaneous tuning changes
9 years ago
b142cc7fd2
AP_NavEKF2: Rename files and re-distribute content
9 years ago
1ce3276d74
AP_NavEKF2: split EKF control and output get functions from state specific libs
9 years ago
290ea0e1e8
AP_NavEKF2: split up EKF_core into different files
9 years ago
Andrew Tridgell
Paul Riseborough
Siddharth Bharat Purohit