This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
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.
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
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
Do not time out and provide an escalating series of messages. We may need to adjust the time thresholds used for escalation.
Do not wait if the EKF is not using the GPS.
Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted)
Copter optical flow operation without a magnetometer is permitted.
The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.
Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.
priseborough
Dr.-Ing. Amilcar Do Carmo Lucas
murata
Andrew Tridgell
Randy Mackay
Jonathan Challinger
Michael du Breuil
Jacob Walser
Francisco Ferreira