027552ef44
AP_NavEKF2: 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
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
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Also remove unused class variables
8 years ago
cbffc29f0b
AP_NavEKF2: use AHRS likely flying state
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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
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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
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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
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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
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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
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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
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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
88469ce80c
AP_NavEKF2: Reset covariance if bad mag fusion update
8 years ago
d799bacd7d
AP_NavEKF2: fixed reset of coviariance matrix
8 years ago
b255c7b370
AP_NavEKF: add setOrigin
8 years ago
9f3c2cb704
AP_NavEKF2: allow access to quaternion for each instance
8 years ago
c53125f3b5
AP_NavEKF2: apply height innovation floor only when barometer is in use
8 years ago
646d68c76d
AP_NavEKF2: Fix parameter metadata
8 years ago
44fa82d58c
AP_NavEKF2: Reference correct derivation
8 years ago
407a60e599
AP_NavEKF2: log correct GPS for replay
8 years ago
8c46d4316b
AP_NavEKF2: handle position jump caused by change in GPS receiver
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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
8 years ago
b7c4945000
AP_NavEKF2: Fix bug preventing reset to GPS
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This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
8 years ago
563be389ee
AP_NavEKF2: only use downward facing rangefinder
8 years ago
8b69f1708e
NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF
8 years ago
e7a34b0fb3
AP_NavEKF2: Add set_baro_alt_noise method
8 years ago
1a7b5538e5
AP_NavEKF2: Enable simple heading fusion to be set for specific cores
8 years ago
a1d41edc4e
AP_NavEKF2: Use the same mag fusion method for all cores
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The original reason for using a different method for the second core is no longer valid.
8 years ago
5cd403c0b9
AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero
8 years ago
a63eac8073
AP_NavEKF2: Add missing perf_end
8 years ago
7ea37029b6
AP_NavEKF2: use standard unit descriptor for milliseconds
8 years ago
715d094678
AP_NavEKF2: Correct display names, bitmask and units
8 years ago
c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25
8 years ago
9389ec2274
AP_NavEKF2: fix parameter descriptions
8 years ago
d408d25f92
More spelling stuff
8 years ago
8419045aea
Spell in comments
8 years ago
653030b038
AP_NavEKF2: Changed if statements to switch statement.
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AP_NavEKF2: Change indentation.
8 years ago
6dc7d25fde
AP_NavEKF2: Fix bug in loss of aiding fallback
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Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
8 years ago
fe69d9a0ea
AP_NavEKF2: remove duplicate include
8 years ago
a8f3a374e2
AP_NavEKF2: replace sqrt function calls with sqrtf
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Prevents compiler errors and un-wanted use of double precision types
8 years ago
priseborough
Peter Barker
Randy Mackay
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
Jonathan Challinger
Jacob Walser
Michael du Breuil
Francisco Ferreira
murata