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The original reason for using a different method for the second core is no longer valid.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
76106889d5
AP_NavEKF2: Prevent unwanted core switch on startup
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Require primary core to be healthy for 10 seconds before starting selection logic
8 years ago
69f3c83c20
AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid
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Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
8 years ago
14a0155f5e
AP_NavEKF2: Allow threshold speed for range finder use to be adjusted
8 years ago
25e47cce6b
AP_NavEKF2: Changed sqrt method to sqrtf method.
...
AP_NavEKF2: Changed sqrt method to sqrtf method.
8 years ago
fc5f4c20cd
AP_NavEKF2: remove redundant check of beacon nullptr
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thanks to muramura for spotting this
8 years ago
665ba1c009
AP_NavEKF2: Fix bug in reporting of vertical position reset
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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
8 years ago
7f347e39dd
AP_NavEKF2: Fix bug in reporting of horizontal position reset
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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
8 years ago
656d9bb2c4
AP_NavEKF2: Fix bug in reporting of yaw reset
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Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
8 years ago
66a9093cd0
AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data
8 years ago
0ec8f0932a
AP_NavEKF2: Prevent output of NaN's in range beacon debug output
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This can happen if this accessor function is called before the EKF states are initialised
8 years ago
fbecda7eeb
AP_NavEKF2: change order of variable initialisation
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No functional change, this modifies the init order to match the declaration order.
8 years ago
82854953e7
AP_NavEKF2: minor comment fix
8 years ago
14a73e499a
AP_NavEKF2: initialise two range beacon structures
8 years ago
2ee8250807
AP_NavEKF2: Changes from code review by @muramura
8 years ago
1f4606e48a
AP_NavEKF2: protect against null beacon
8 years ago
51ccfca31c
AP_NavEKF2: fix format of statustext for beacon init
8 years ago
ef03a85cd3
AP_NavEKF2: add range beacon interface and fusion method
8 years ago
0a177d04fd
AP_NavEKF2: Simply core switch implementation
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Functionally equivalent
8 years ago
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
8 years ago
e9ea06bd10
AP_NavEKF2: minor comment fix
8 years ago
0df45703f1
AP_NavEKF2: Fix errors in position reset delta publishing
8 years ago
Andrew Tridgell
priseborough
Randy Mackay
Jonathan Challinger
Jacob Walser
Michael du Breuil
Dr.-Ing. Amilcar Do Carmo Lucas
Francisco Ferreira
murata