priseborough
c8bdf2fab8
Replay: enable replay to ignore EK3_ENABLE setting in log
2017-01-27 16:57:42 +09:00
priseborough
59ee074560
AP_NavEKF3: Remove EKF2 names
2017-01-27 16:57:42 +09:00
priseborough
b862f0d7ad
AP_NavEKF3: Enable use of GPS delay value from returned by the driver
...
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
2017-01-27 16:57:42 +09:00
Andrew Tridgell
bdc0630ccf
AP_GPS: added all_configured() function
...
used for EKF to tell if gps_lag is valid
2017-01-27 16:57:42 +09:00
Andrew Tridgell
5d18f3a453
AP_GPS: added backend specific get_lag() function
...
the ublox7 and 8 seem to produce lower lag, around 120ms. Separately
we should also look at running these at 10Hz and see if that helps.
2017-01-27 16:57:42 +09:00
priseborough
69a47d7522
AP_NavEKF3: Improve reporting of buffer allocation
2017-01-27 16:57:42 +09:00
priseborough
ceb42225fd
AP_NavEKF3: Ensure enough time to fill buffers when starting filter
2017-01-27 16:57:42 +09:00
priseborough
a8fd1d8bcd
AP_NavEKF3: fix potential time-stamping bug
...
Use a consistent time reference
2017-01-27 16:57:42 +09:00
priseborough
8d1733cee6
AP_NavEKF3: Use FIR filtered airspeed
...
Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
2017-01-27 16:57:42 +09:00
priseborough
9261c34097
AP_NavEKF3: Update default GPS delay
...
This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.
2017-01-27 16:57:42 +09:00
priseborough
ed5039823f
AP_NavEKF3: Adapt sensor buffer lengths
...
Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
2017-01-27 16:57:42 +09:00
priseborough
2cc48f78a7
AP_NavEKF3: Update range beacon fusion
...
Add innovation consistency check to alignment filter and publish alignment filter status data
2017-01-27 16:57:42 +09:00
priseborough
ed0a90ae5f
AP_Beacon: Apply correct conversion from Pozyx beacon earth frame
...
The Pozyx beacon system uses a North, West, Up axis system and the APM software uses a North, East, Down convention.
2017-01-27 16:57:42 +09:00
priseborough
a02a84560f
DataFlash: log 3-state range beacon estimator states for EKF3
2017-01-27 16:57:42 +09:00
priseborough
92b8c33b19
AP_NavEKF3: publish 3-state range beacon estimator states
2017-01-27 16:57:42 +09:00
priseborough
7c53573a0c
AP_NavEKF3: Allow range beacon use with intermittent GPS
2017-01-27 16:57:42 +09:00
priseborough
e5e4883c72
AP_NavEKF3: Fix GPS use inhibit interface documentation
2017-01-27 16:57:42 +09:00
priseborough
c7e1828238
AP_NavEKF3: improve variable name
2017-01-27 16:57:42 +09:00
murata
32b60432b4
AP_Baro: Add format specification.
...
AP_Baro: Add format specification.
2017-01-27 18:20:22 +11:00
murata
37a55c38a1
StorageManager: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
9de6318b77
PID: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
4a60850558
GCS_MAVLink: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
474569c91b
GCS_Console: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
81ef065c53
AP_RPM: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
17c62ffe4c
AP_RangeFinder: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
59454b0c6f
AP_Param: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
60b63bb69e
AP_Parachute: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
77c402556b
AP_OpticalFlow: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
334da0d9d5
Tools: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
3ce2ca488a
AP_Notify: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
2d32211c81
AP_Mount: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
92eb179acf
AP_Motors: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
9481e0d158
AP_Mission: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
aa3fb830af
AP_Menu: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
0733d760f6
AP_HAL_VRBRAIN: Unify from print or println to printf.
...
AP_InertialSensor: Unify from print or printin to printf.
2017-01-27 18:20:22 +11:00
murata
67fdbf5c2d
AP_HAL_SITL: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
3200f24106
AP_GPS: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
37873717de
AP_Declination: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
50eead63cc
AP_Common: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
f18b8844bf
AP_BattMonitor: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
78a4cab06b
AP_Baro: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
743d6e6db4
AP_Airspeed: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
836c8aa684
RC_Channel: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
9b1dadd93e
AP_HAL_PX4: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
5e11497332
AC_PID: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
1b2ea27a68
DataFlash: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
30bbe7abb6
AP_HAL_Linux: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
ec4cce15a1
AP_Math: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
2643e7e906
AP_InertialSensor: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
murata
03bf57219b
AP_HAL: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
