3d72022f6e
EKF: modify ALT_SOURCE param description
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We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
7 years ago
ac40a20c02
AP_NavEKF3: fill in gps_quality_good flag
7 years ago
6bf5ffdb6d
AP_NavEKF3: use compass singleton for logging
7 years ago
4d5e258b19
AP_NavEKF3: Delete unused definitions
7 years ago
f0a6cd5846
AP_NavEKF3: Clarify the message
7 years ago
553abda91c
AP_NavEKF3: use single precision ceilf()
7 years ago
4869dd0ae4
AP_NavEKF3: send airspeed variance over mavlink
7 years ago
901ba0034c
AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton
7 years ago
a0d874baa2
AP_NavEKF3: const accessors
7 years ago
6791808ac6
AP_NavEKF3: remove unneeded initialisations
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AP_NavEKF3 should never be allocated in uninitialised memory
7 years ago
d38ff1dd2c
AP_NavEKF3: initialise EKF3 constants in declaration not constructor
7 years ago
2b2c1e2d78
AP_NavEKF3: only use bcn EKF is the alignement as been completed
7 years ago
44a21bc8ac
EKF3: correct acos to acosf
7 years ago
48c5a9b9c5
AP_NavEKF3: style change in BCN mesurements
7 years ago
4d2f2a2aad
AP_NavEKF3: correct flag in case of GPS disable
7 years ago
5785523a0d
AP_NavEKF3: Clarify definition for gps_glitching flag
7 years ago
55b8a2288e
AP_NavEKF3: use ins singleton
7 years ago
7b1a906c4e
AP_NavEKF3: use baro singleton
7 years ago
6a1055389d
AP_NavEKF3: Fix origin height estimator indexing bug
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EKF3 should use index 9 to access vertical position states
7 years ago
aef9fa4a63
AP_NavEKF3: delete \n from the log using gcs().send_text
7 years ago
6a87840c7a
AP_NavEKF3: Change the if statement to a switch statement.
7 years ago
ea2a880d8a
AP_NavEKF3: allocate from MEM_FAST region
7 years ago
5dc714bf5f
AP_NavEKF3: use GPS singleton
7 years ago
be96a27fa8
AP_NavEKF3: only report terrain estimator innovations with valid rng value
7 years ago
c13eaf0c7f
AP_NavEKF3: removed create() method for objects
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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
6b30c9213a
AP_NavEKF3: delay startup until IMU buffer is filled
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this prevents a vulnerability where the initial IMU data is processed
26 times (where 26 is the IMU buffer length)
7 years ago
2c6593e35e
AP_NavEKF3: fixed inverted function setInhibitGpsVertVelUse()
7 years ago
c96bc54254
AP_NavEKF3: correctly use wheel odometry speed for pitched rovers
7 years ago
ee6b43aabf
AP_NavEKF3: Fix bugs in use of wheel encoder data
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Found by pavloblindnology
7 years ago
bd6145af6d
AP_NavEKF3: add static create method
7 years ago
63440800fc
AP_NavEKF3: use rangefinder backend accessors
8 years ago
2310cb6d19
AP_NavEKF3: Enable external control over use of GPS vertical velocity
8 years ago
efe70c8d3a
AP_NavEKF3: Fix possible compass nullptr dereference
8 years ago
db7c8439c6
AP_NavEKF3: Fix bug in wheel odometry timestamp correction
8 years ago
c7f6d52065
AP_NavEKF3: Add wheel encoder odometry
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Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
8 years ago
cbe8f97489
AP_NavEKF3: rename struct used for velocity odometry observations
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Do this so we can add other odometry observation types.
8 years ago
08a3f55c90
AP_NavEKF3: Fix error in scaling of observation error
8 years ago
593437ca95
AP_NavEKF3: Add tuning of visual odometry observation error
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Also adjust default values based on replay analysis.
8 years ago
58d58b4eac
AP_NavEKF3: Initialise EKF origin height to field elevation
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Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
8 years ago
0827b13feb
AP_NavEKF3: Fix default behaviour for height origin corrections
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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
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
d64b2fcbf0
AP_NavEKF3: final mag reset at 2.5m
8 years ago
9d0fa09d39
AP_NavEKF3: Fix calculation of predicted LOS rate in terrain estimator
8 years ago
a4d18696a7
AP_NavEKF3: Improve variable names and documentation
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Also remove unnecessary calculation of innov * gain
8 years ago
368983ed5a
AP_NavEKF3: Clean up aiding mode logic using switch statements
8 years ago
2a9eceaf10
AP_NavEKF3: Fix bugs causing height drift when using range beacons
8 years ago
7659e9c31f
AP_NavEKF3: Improve checking of time delay validity when setting buffers
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This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
8 years ago
7d63286088
AP_NavEKF3: update to match AP_GPS interface change
8 years ago
06d40a7901
AP_NavEKF3: Fix terrain estimator innovation consistency check
8 years ago
284fc0f3c5
AP_NavEKF3: Fix bug in flow fusion for terrain estimation
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Also remove unused class variables
8 years ago
Randy Mackay
Andrew Tridgell
Peter Barker
murata
Pierre Kancir
priseborough
Tatsuya Yamaguchi
bugobliterator
Lucas De Marchi
Michael du Breuil