11f31c2851
AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed
6 years ago
e9ed3540f1
AP_NavEKF2: constrain field by table after fusion
...
this should make for faster convergence
6 years ago
3835d2613e
AP_NavEKF2: added EK2_MAG_EF_LIM parameter
...
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
6 years ago
e19d638c0f
AP_NavEKF2: support higher optical flow updates rates
6 years ago
cc62998d40
AP_NavEKF2: fixed bug in EKF lane selection
...
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
6 years ago
7f639c1bb2
AP_NavEKF2: Allow checking all cores for failure
6 years ago
50e99b6e1a
AP_NavEKF2: use get_distance_NE instead of location_diff
6 years ago
3f5a6a243c
AP_NavEKF2: use get_distance instead of location_diff
6 years ago
8038efc152
AP_NavEKF2: Flow use parameter updates
6 years ago
e2148e7e2a
AP_NavEKF2: Update default plane optical flow param values
...
Reduce time required to form estimate of terrain offset
6 years ago
aa6eee82f4
AP_NavEKF2: Rework opt flow terrain height logic
6 years ago
67d20f3b3c
AP_NavEKF2: Update parameter description
6 years ago
1862512c2b
AP_NavEKF2: Use flow sensor for navigation with unknown platform type
...
This is the more common use case.
6 years ago
921205f61c
AP_NavEKF2: Minor amendments from review
6 years ago
a40208ebd4
AP_NavEKF2: Improve optical flow height estimation
...
Updated derivation using sequential fusion of Y and X axis data.
6 years ago
2b8b53d6b2
AP_NavEKF2: Add parameter to control how optical flow flow data is used
6 years ago
6b70181837
AP_NavEKF2: add getQuaternionBodyToNED
6 years ago
8506ae9c32
AP_NavEKF2: rename dataflash to logger
6 years ago
79ee52917f
AP_NavEKF2: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
6 years ago
78b165e36f
AP_NavEKF2: fixed typos
6 years ago
a0e7c37f8c
AP_NavEKF2: fixed typos
6 years ago
b32e8a4424
AP_NavEKF2: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
8a6a39b590
AP_NavEKF3: unify singleton naming to _singleton and get_singleton()
6 years ago
ccc1f906f8
AP_NavEKF2: fixed EKF compass switching
...
when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
6 years ago
3766ee1b60
AP_NavEKF2: add external navigation data lag
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
ebd12b30e8
AP_NavEKF2: adjust for Location_Class and Location unification
6 years ago
9be604e3ce
AP_NavEKF2: adjust for location flags being moved out of union
6 years ago
c616587b86
AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005
6 years ago
49d20364cb
AP_NavEKF2: pass quaternion by const reference
6 years ago
8ea7df3efe
AP_NavEKF2: added filter reset if unhealthy for 5s and disarmed
6 years ago
29db069c75
AP_NavEKF2: Suppress clearing non-trival type warning
6 years ago
1e56ad4837
AP_NavEKF2: add external nav system to POSNE_M_NSE description
6 years ago
08b9bf4a89
AP_NavEKF2: fix extNav position noise
6 years ago
805647df85
AP_NavEKF2: enable use of in-flight compass learning
6 years ago
1c1d651979
AP_NavEKF2: add space for null-termination
...
This is simply to preserve existing behaviour when snprintf starts to
null-terminate strings
6 years ago
3a79ae4eca
AP_NavEKF2: use union to alias array and struct access to states
...
This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on which
is deemed faster - not a good outcome.
6 years ago
fb176b544f
AP_NavEKF2: correct compilation when running MATH_CHECK_INDEXES
6 years ago
889190d46e
AP_NavEKF2: always set EKF control limits, even with no cores
6 years ago
3774aa6619
AP_NavEKF2: remove default clause in setAidingMode
...
All values from the enumeration should be handled in this switch; adding
a default will hide a compiler warning which may be useful.
6 years ago
66e9286cf6
AP_NavEKF2: Fix roundoff, and missing offset handling of getLLH
6 years ago
d8aa8d2b71
AP_NavEKF2: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
ee9cc28fda
AP_NavEKF2: Utilize the GPS drivers estimate for lag
7 years ago
3d72022f6e
EKF: modify ALT_SOURCE param description
...
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
3d31773fb4
AP_NavEKF2: fill in gps_quality_good flag
7 years ago
59e087214f
AP_NavEKF2: spell in comments (NFC)
7 years ago
baa818a812
AP_NavEKF2: use compass singleton for logging
7 years ago
a9b2b9dddf
AP_NavEKF2: Delete unused definitions
7 years ago
1e011c0c15
AP_NavEKF2: Clarify the message
7 years ago
Peter Barker
Andrew Tridgell
Randy Mackay
Michael du Breuil
Pierre Kancir
Paul Riseborough
Mark Whitehorn
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
Arjun Vinod
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chobitsfan
murata