5b41d5541f
AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection
...
as discussed with Paul
4 years ago
7d7031d3d7
AP_NavEKF2: added const (review request)
4 years ago
16f7e51ea5
AP_NavEKF2: fixed use of pointers in ringbuffers
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these don't work with AP_DAL
4 years ago
246a441883
AP_NavEKF2: cope with INS_MAX_INSTANCES below 3
4 years ago
5f0e943f0f
AP_NavEKF2: use dal reference in EKF backends
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saves a bit of flash space
4 years ago
8591b31665
AP_NavEKF2: cleanup unused code
4 years ago
bec095d661
AP_NavEKF2: support replay with external navigation data
4 years ago
224792b8b8
AP_NavEKF2: added optflow support for AP_DAL
4 years ago
90a8c5cb1a
AP_NavEKF2: use ekf_low_time_remaining for core scheduling
4 years ago
f3c3778169
prevent duplicate EKF logging
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vehicle code sometimes tries to log the same data twice
4 years ago
6be3d19e82
AP_NavEKF2: convert to use AP_DAL for new replay structure
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
84c92b717f
AP_NavEKF2: make coreBetterScore const
4 years ago
fccc1fcb72
AP_NavEKF2: minor comment fix
4 years ago
dc32f7a12f
AP_NavEKF2: fixed multi-core yaw reset
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thanks to Alex Burka for finding this
4 years ago
0496ecc4f6
AP_NavEKF2: remove unused state variables
4 years ago
53305ba2a4
AP_NavEKF2: remove unused quat2Tbn method
4 years ago
312cf725aa
AP_NavEKF2: remove dangling method declarations
4 years ago
c90265f94d
AP_NavEKF2: fix includes
4 years ago
80f9ef7ed1
AP_NavEKF2: remove unused innovationIncrement and lastInnovation
4 years ago
b2d4622320
AP_NavEKF2: replace prearm_healthy with pre_arm_check
4 years ago
35e95d3328
AP_NavEKF2: reset body mag variances at key points
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reset on sensor switch or when changing to 3D fusion
4 years ago
534e63e2fa
AP_NavEKF2: fixed init of earth state mag variances
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we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
4 years ago
d6dcbda0d3
AP_NavEKF2: removed duplicate compass switch check
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left over from last set of changes
4 years ago
067001bd61
AP_NavEKF2: take into account alignment when comparing cores
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ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
4 years ago
da7bb44a61
AP_NavEKF2: Consolidate magnetometer timeout checks
4 years ago
6b9e595602
AP_NavEKF2: fixed handling of failed compass
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when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
4 years ago
6ee527d3e0
AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask
5 years ago
56cbcb42ee
AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet
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TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
5 years ago
83e5639225
AP_NavEKF2: apply min GPS accuracy at measurement point
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this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
5 years ago
032b7c81e5
AP_NavEKF2: correct includes
5 years ago
e39e24bd18
AP_NavEKF2: INS get_sample_rate() renamed to get_loop_rate_hz()
5 years ago
25cba50f10
AP_NavEKF3: Fix EK2_MAG_CAL parameter description
5 years ago
ea4589ea94
AP_NavEKF2: Reset yaw estimator bias states at start of flight
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Enables yaw bias to be learned when sitting stationary on ground.
5 years ago
b6d9b6f3c7
AP_NavEKF2: Update documentation for non-compass use case
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Instruction now explicitly specifies that all COMPASS_USE parameters must be set to 0 and COMPASS_ENABLE must be set to 1
5 years ago
ccaa4d6aa9
AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data
5 years ago
081c0bbfe0
AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods
5 years ago
9507a2e157
AP_NavEKF2: Fix parameter description
5 years ago
a8c2be26ba
AP_NavEKF2: remove unused terrainHgtStableSet_ms
5 years ago
502b96f49c
AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor
5 years ago
83dc46d539
AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data
5 years ago
280d33d030
AP_NavEKF2: reduce duplicated code.
5 years ago
11a0fef3d0
AP_NavEKF2: Fix indent
5 years ago
fc18ee91df
AP_NavEKF2: Add missing fallback to baro for range beacon use case
5 years ago
d118c8fc38
AP_NavEKF2: Fix range aid switching logic
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Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK2_ALT_SOURCE parameter.
5 years ago
9bbd2b19c2
AP_NavEKF2: add --debug-ekf to debug the EKF
5 years ago
989ffb79cd
AP_NavEKF2: minor format fix
5 years ago
966d59a26d
AP_NavEKF2: protect against ExtNav being NaN
5 years ago
f5f403947c
AP_NavEKF2: clarify POSNE_M_NSE desc
5 years ago
e64c92b322
AP_NavEKF2: use err info from ext nav interface
5 years ago
6c10655059
AP_NavEKF2: accept extnav at up to 50hz
5 years ago
Andrew Tridgell
Peter Barker
Randy Mackay
Paul Riseborough
Harshit Kumar Sankhla
Andy Piper
Dr.-Ing. Amilcar do Carmo Lucas
Pierre Kancir
chobits