Peter Barker
3582b69e9c
AP_NavEKF3: remove getFilterTimeouts access methods
2021-01-22 13:04:36 +11:00
Peter Barker
b3bacdd33c
AP_NavEKF3: remove internal-only getTiltError method
2021-01-21 21:26:17 +11:00
Peter Barker
5ad0ac6727
AP_NavEKF3: remove unused getAccelNED method
2021-01-21 21:26:17 +11:00
Randy Mackay
4492e5024c
AP_NavEKF3: enable ekf3 by default
2021-01-16 08:24:23 +09:00
Andy Piper
099d6aa72e
AP_NavEKF3: add filter reset when vehicle is idle for too long
2021-01-15 15:47:20 +11:00
chobitsfan
26a3a02c81
AP_NavEKF3: use posxy_source in all places
2021-01-14 16:49:12 +09:00
chobits
e73d28fe19
AP_NavEKF3: remove redundant extnav code
2021-01-12 21:56:36 +09:00
Andrew Tridgell
59fa794818
AP_NavEKF3: constrain vertical error
...
this prevents a floating point exception with external AHRS
2021-01-05 21:13:12 +11:00
Randy Mackay
647c568ab9
AP_NavEKF3: out-of-date comments removed
...
GPS, Static and ExtNav yaw buffers have been separated
2021-01-05 10:58:06 +11:00
Randy Mackay
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c
AP_NavEKF3: add support for GSF as yaw source
2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
2021-01-05 10:58:06 +11:00
Randy Mackay
6850b48ea1
AP_NavEKF3: add comments for yaw sensor variables
2021-01-05 10:58:06 +11:00
Andrew Tridgell
e747edbcf2
AP_NavEKF3: fixed init order for scheduler
...
this can impact replay of EKF2
2021-01-02 10:30:26 +11:00
Randy Mackay
39be85cef4
AP_NavEKF3: integrate Source loss of init
2020-12-21 16:56:38 +09:00
Peter Barker
6dfd2f2ff9
AP_NavEKF3: use use_EKFGSFYaw to reduce code duplication
2020-12-17 16:00:29 +09:00
Randy Mackay
a2cca60beb
AP_NavEKF3: constify EKFGSF_getYaw
2020-12-16 19:18:29 +11:00
Randy Mackay
0c3fcfd9d6
AP_NavEKF3: add missing break to case statements
2020-12-16 19:18:29 +11:00
Randy Mackay
9cb529cfd6
AP_NavEKF3: minor formatting fix
...
also replace tab with spaces
2020-12-16 19:18:29 +11:00
Paul Riseborough
908b348c31
AP_NavEKF3: Fix typo in enum label
2020-12-15 19:29:16 +11:00
Randy Mackay
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
2020-12-15 19:29:16 +11:00
Randy Mackay
c2edae905f
AP_NavEKF3: simplify logic when updating yawAngDataStatic
2020-12-15 19:29:16 +11:00
Randy Mackay
843ddb4fdc
AP_NavEKF3: minor format fix
2020-12-15 19:29:16 +11:00
Paul Riseborough
a9e76d44af
AP_NavEKF3: Clean up yaw fusion logic
2020-12-15 19:29:16 +11:00
Paul Riseborough
ccfd89240b
AP_NavEKF3: Fix error in calculation of static 312 order yaw reference
2020-12-15 19:29:16 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
f77ab30f7a
Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions"
...
This reverts commit 4f4a2f446d
.
Makes more sense to add those to the list of supported units
2020-12-15 18:22:36 +11:00
Paul Riseborough
8f32430294
AP_NavEKF3: Fix white spaces
2020-12-11 15:21:41 +11:00
Paul Riseborough
bdc202378a
AP_NavEKF3: fix white space
2020-12-11 15:21:41 +11:00
Paul Riseborough
ed17d8e48f
AP_NavEKF3: Improve parameter display names
2020-12-11 15:21:41 +11:00
Paul Riseborough
171f0b399f
AP_NavEKF3: Remove commented code
2020-12-11 15:21:41 +11:00
Andrew Tridgell
b86c014400
AP_NavEKF3: rename drag parameters to start with EK3_DRAG_
2020-12-11 15:21:41 +11:00
Paul Riseborough
47d4506e68
AP_NavEKF3: Add drag and sideslip innovation logging
2020-12-11 15:21:41 +11:00
Paul Riseborough
4884476c09
AP_NavEKF3: Formatting and comment fixes
2020-12-11 15:21:41 +11:00
Andrew Tridgell
be4d10a95e
AP_NavEKF3: rework parameter handling
...
and fixed indentation
2020-12-11 15:21:41 +11:00
Paul Riseborough
5da62aeaa2
AP_NavEKF3: Fix CI build errors
2020-12-11 15:21:41 +11:00
Paul Riseborough
0d2c235027
AP_NavEKF3: Fix #define typo
2020-12-11 15:21:41 +11:00
Paul Riseborough
ab05e8ed4a
AP_NavEKF3: Update param descriptions
2020-12-11 15:21:41 +11:00
Paul Riseborough
4f4a2f446d
AP_NavEKF3: Remove unsupported parameter unit descriptions
2020-12-11 15:21:41 +11:00
Paul Riseborough
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
2020-12-11 15:21:41 +11:00
Andrew Tridgell
ac4a05ffbf
AP_NavEKF3: fixed null dereference of airspeed
...
this caused a segfault in replay
2020-12-11 14:22:46 +11:00
Andrew Tridgell
2071a19a40
AP_NavEKF3: only fuse airspeed if healthy
2020-12-11 09:59:49 +11:00
Peter Barker
58f6570755
AP_NavEKF3: stop using QUAT_* defines from AP_Logger/LogStructure.h
...
The EKFs logging is independant so we can kill EKF2...
Also use correct structure for logging XKF1; these structures were
identical.
2020-12-08 11:30:10 +11:00
chobits
013b39d2a6
AP_NavEKF3: fix ext nav vel timestamp cal
2020-12-07 08:54:42 +09:00
Peter Barker
287e9350a5
AP_NavEKF3: move log message IDs in from AP_Logger LogStructure
2020-12-03 19:22:26 +11:00
Peter Barker
79109458c2
AP_NavEKF3: move EKF3 logging structures into EKF3 LogStructure.h
2020-12-03 19:22:26 +11:00
Andrew Tridgell
bdba430e55
AP_NavEKF3: save memory on beacon debug structure
...
only allocate when beacons are enabled. This relies on a guarantee in
the DAL that the beacon count cannot change
2020-12-01 10:53:08 +11:00
Andrew Tridgell
bb32f1a397
AP_NavEKF3: avoid initialising unused ring buffers
...
this assumes the nav sources are treated as reboot required
2020-12-01 10:53:08 +11:00
Peter Barker
e972fb31b1
AP_NavEKF3: remove unused variables
2020-12-01 10:40:09 +11:00
Peter Barker
0529ddcd67
AP_NavEKF3: move badMagYaw onto stack
2020-12-01 10:40:09 +11:00
Peter Barker
2885026bba
AP_NavEKF3: move tasHealth to be a stack variable
2020-12-01 10:40:09 +11:00
Peter Barker
b79a26135c
AP_NavEKF3: move posvel fusion health booleans to be on the stack
2020-12-01 10:40:09 +11:00
Peter Barker
2d25149e2e
AP_NavEKF3: move global state to be on the stack
2020-12-01 10:40:09 +11:00
Andrew Tridgell
d242339f2e
AP_NavEKF3: added have_vz flag to GPS buffer data
...
this ensures that we record GPS vertical velocity status for every
sample correctly
2020-12-01 10:33:50 +11:00
Andrew Tridgell
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Andrew Tridgell
603e0c090d
AP_NavEKF3: don't reset EKx_GPS_TYPE when GPS has no vertical velocity
...
setting the parameter to 1 causes the following issues:
- the GPS may not have vertical velocity at the time the parameter
set happens, but may get it later when the GPS is fully configured
- we may switch between GPS modules which do/don't have vertical
velocity
- the user may download parameters after the set(1), and end up with
incorrect parameters they may later load onto the vehicle,
permanently disabling use of vertical velocity
2020-12-01 10:33:50 +11:00
Peter Barker
52b8b95a72
AP_NavEKF3: rearrange readGPSData to remove some nesting
2020-11-30 11:51:12 +11:00
Randy Mackay
4cd1c3cfde
AP_NavEKF3: param conversion loses config_error
...
config_error should only be run as part of setup because it may never return
2020-11-27 08:20:07 +09:00
Randy Mackay
adfc92523b
AP_NavEKF3: add configuredToUseGPSForPosXY
2020-11-25 21:00:07 +11:00
Andrew Tridgell
7eea13f86f
AP_NavEKF3: fixed build of standalone replay link test
...
parameter conversion not needed for replay
2020-11-24 20:46:37 +11:00
Peter Barker
200b085eea
AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write)
2020-11-22 20:47:29 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Peter Barker
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
...
EKF2 needs this for choosing alternate cores. EKF3 does not.
2020-11-22 14:09:48 +11:00
Paul Riseborough
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
2020-11-21 12:56:10 +11:00
Andrew Tridgell
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Randy Mackay
d1983b0b77
AP_NavEKF3: fixup source param conversion
...
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
2020-11-20 16:43:44 +09:00
Randy Mackay
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
2020-11-20 16:43:44 +09:00
Andrew Tridgell
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
2020-11-20 16:43:44 +09:00
Randy Mackay
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
2020-11-20 16:43:44 +09:00
Randy Mackay
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
2020-11-20 16:43:44 +09:00
Randy Mackay
f88364d653
AP_NavEKF3: use_compass minor order fixup
2020-11-20 16:43:44 +09:00
Randy Mackay
b475f01b25
AP_NavEKF3: update comments
2020-11-20 16:43:44 +09:00
Randy Mackay
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
2020-11-20 16:43:44 +09:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
9716b09cad
AP_NavEKF3: minor indenting fix
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Andrew Tridgell
72ee7d15e1
AP_NavEKF3: fixup for AP_DAL
2020-11-20 16:43:44 +09:00
Randy Mackay
73835f0c11
AP_NavEKF3: pre_arm_check includes sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6c0bb6a198
AP_NavEKF3: add convert_params for source
2020-11-20 16:43:44 +09:00
Randy Mackay
849e94cc24
AP_NavEKF3: call sources align inactive sources
2020-11-20 16:43:44 +09:00
Randy Mackay
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
2020-11-20 16:43:44 +09:00
Randy Mackay
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
2020-11-20 16:43:44 +09:00
Randy Mackay
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
2020-11-20 16:43:44 +09:00
Randy Mackay
1263648d88
AP_NavEKF3: beacon fusion checks source
2020-11-20 16:43:44 +09:00
Randy Mackay
8a56ce49be
AP_NavEKF3: optical flow fusion checks source
2020-11-20 16:43:44 +09:00
Randy Mackay
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027
AP_NavEKF3: integrate Source for yaw
2020-11-20 16:43:44 +09:00
Randy Mackay
8931e50166
AP_NavEKF3: integrate Source for alt
2020-11-20 16:43:44 +09:00
Randy Mackay
c21d58ebea
AP_NavEKF3: integrate Source for position
2020-11-20 16:43:44 +09:00
Andrew Tridgell
4c606a30bb
AP_NavEKF3: use common structure names
2020-11-17 13:45:07 +11:00
Paul Riseborough
aaf558f593
AP_NavEKF3: Add velocity innovation check to use of EKF-GSF yaw
...
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
2020-11-16 16:01:13 +11:00
Paul Riseborough
db86a5acc8
AP_NavEKF3: Don't update yaw estimator with bad GPS
2020-11-16 16:01:13 +11:00
Andrew Tridgell
5686dafeef
AP_NavEKF3: fixed logged core for GSF messages
2020-11-16 10:28:43 +11:00
Andrew Tridgell
03f2e853ce
AP_NavEKF3: fixed memory corruption on push before init
...
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption
found using the new memory guard system
2020-11-15 15:42:48 +11:00
Andrew Tridgell
c14d19be68
AP_NavEKF3: fixed gcc 9.3 build error
...
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
2020-11-13 14:30:11 +11:00
Andrew Tridgell
0bc77a3baf
AP_NavEKF3: fixed whitespace
2020-11-10 16:15:45 +11:00
Andrew Tridgell
6ee1b23d28
AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection
...
as discussed with Paul
2020-11-10 16:15:45 +11:00
Andrew Tridgell
6fe05a9ab6
AP_NavEKF3: restore XKTV message
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f5275fd0ad
AP_NavEKF3: fixed use of pointers in ringbuffers
...
these don't work with AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
eaa8474563
AP_NavEKF3: cope with INS_MAX_INSTANCES below 3
2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0
AP_NavEKF3: use dal reference in EKF backends
...
saves a bit of flash space
2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bdf6173ec
AP_NavEKF3: removed have_ekf_logging
2020-11-10 16:15:45 +11:00
Andrew Tridgell
21dfdc2192
AP_NavEKF3: use DAL for body frame odometry
2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f
AP_NavEKF3: use selected GPS for gps_yaw_deg()
...
more than one GPS could provide yaw
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f4c3d7286c
AP_NavEKF3: support replay with wheel odomotry
2020-11-10 16:15:45 +11:00
Andrew Tridgell
e87f98066f
AP_NavEKF3: support replay with external navigation data
2020-11-10 16:15:45 +11:00
Andrew Tridgell
7bbbbd314c
AP_NavEKF3: added optflow support for AP_DAL
2020-11-10 16:15:45 +11:00
Andrew Tridgell
31091d6307
AP_NavEKF3: use ekf_low_time_remaining for core scheduling
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169
prevent duplicate EKF logging
...
vehicle code sometimes tries to log the same data twice
2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388
AP_NavEKF3: convert to use AP_DAL for new replay structure
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Randy Mackay
2681d3afe2
AP_NavEKF3: simplify alignYawAngle
2020-11-03 11:00:01 +11:00
Peter Barker
fc49b55b85
AP_NavEKF3: make coreBetterScore const
2020-11-03 10:39:35 +11:00
Randy Mackay
b726630ef4
AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully
...
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
2020-10-28 19:06:53 +11:00
Randy Mackay
3b38aa6d7b
AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD
...
Using these existing functions removes some code duplicate
non-functional change
2020-10-28 19:03:34 +11:00
Randy Mackay
7b898ee001
AP_NavEKF3: minor comment and format fixes
2020-10-28 12:17:40 +09:00
Paul Riseborough
f2af2b3458
AP_NavEKF3: Initialise tiltErrorVariance class variable
2020-10-26 11:03:50 +11:00
Paul Riseborough
43386a8eea
AP_NAvEKF3: Use a const reference
2020-10-26 11:03:50 +11:00
Paul Riseborough
64a3d8fe4e
AP_NavEKF3: Update documentation
2020-10-26 11:03:50 +11:00
Paul Riseborough
6c7820dd8d
AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL
2020-10-26 11:03:50 +11:00
Paul Riseborough
90e928c32a
AP_NavEKF3: Re-tune tilt alignment check
...
New tilt error variance estimate is more accurate and larger than before.
2020-10-26 11:03:50 +11:00
Paul Riseborough
16ae75a681
AP_NavEKF3: Consolidate and log tilt error variance calculation
2020-10-26 11:03:50 +11:00
Paul Riseborough
8a88dd23a2
AP_NavEKF3: Add missing generated code file for yaw fusion
2020-10-26 11:03:50 +11:00
Paul Riseborough
69632336e1
AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw
...
Uses sympy derivation
2020-10-26 11:03:50 +11:00
Paul Riseborough
4e41e9f5f1
AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order
...
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
2020-10-26 11:03:50 +11:00
Paul Riseborough
fa10d114e4
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
...
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
2020-10-26 11:03:50 +11:00
Paul Riseborough
73d5ca5ad3
AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch
...
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
2020-10-26 11:03:50 +11:00
Paul Riseborough
a97d030e4b
AP_NavEKF3: Reset earth field variances when starting mag field estimation
2020-10-26 11:03:50 +11:00
Paul Riseborough
9168d0cd19
AP_NavEKF3: Initialise mag field variances to non zero values
2020-10-26 11:03:50 +11:00
Paul Riseborough
0b96f046c2
AP_NavEKF3: Unblock initial yaw alignment message
2020-10-26 11:03:50 +11:00
Paul Riseborough
f81abd73d6
AP_NavEKF3: Update covariance prediction to yse SymPy generated equations
...
Saves flash and variable space.
2020-10-26 11:03:50 +11:00
Andrew Tridgell
a4716fb9bf
AP_NavEKF3: fixed multi-core yaw reset
...
thanks to Alex Burka for finding this
2020-10-24 19:35:30 +11:00
Andrew Tridgell
fcccdcc936
AP_NavEKF3: fixed bug in external yaw for fixed wing
...
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source
this fixes an EKF3 error loop on the ground found by Michael
2020-10-24 13:50:33 +11:00
Randy Mackay
c3fd82b6d7
AP_NavEKF3: minor spelling fix
2020-10-24 12:35:58 +11:00
Randy Mackay
2f1ae29a9c
AP_NavEKF3: extnav data gets corrected boolean
...
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
2020-10-24 12:35:58 +11:00
Randy Mackay
a16de76f57
AP_NavEKF3: correct extnav position as it is recalled from the buffer
...
This makes extnav position correction consistent with the velocity correction
2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10
AP_NavEKF3: gps_elements gets corrected flag
...
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
2020-10-24 08:49:33 +09:00
Randy Mackay
3d4e1cd5c5
AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel
2020-10-24 08:49:33 +09:00
Randy Mackay
e25579cc00
AP_NavEKF3: correct GPS for position as it is recalled from buffer
2020-10-24 08:49:33 +09:00
Peter Barker
0496ecc4f6
AP_NavEKF2: remove unused state variables
2020-10-22 08:47:08 +11:00
Peter Barker
a1e7c91f8e
AP_NaveEKF3: reduce code duplication in setup_core
...
Less code.
Saves 40 bytes on PixRacer
2020-10-22 08:47:08 +11:00
Randy Mackay
e4056086e0
AP_NavEKF3: minor format and spelling fixes
2020-10-21 13:54:22 +09:00
Randy Mackay
231a958e51
AP_NavEKF3: minor comment fix
2020-10-21 11:40:35 +09:00
Randy Mackay
e4ccd21dd7
AP_NavEKF3: consolidate extNav height source timeouts
2020-10-20 17:11:26 +09:00
Randy Mackay
6989a28bfc
AP_NavEKF3: allow alt from other sources when using ExtNav
...
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
2020-10-20 17:11:26 +09:00
Randy Mackay
0cebde0632
AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set
...
this non-functional change slightly reduces the number of places we set these variables
2020-10-20 17:11:26 +09:00
Peter Barker
ef505df78a
AP_NavEKF3: remove unused quat2Tbn method
2020-10-20 11:40:54 +11:00
Peter Barker
0eafe4b662
AP_NavEKF3: remove dangling method declarations
2020-10-20 11:40:54 +11:00
Peter Barker
83d784c22d
AP_NavEKF3: fix includes
2020-10-20 11:40:54 +11:00
Peter Barker
3dc67f09fd
AP_NavEKF3: remove unused innovationIncrement and lastInnovation
2020-10-20 11:24:34 +11:00