14 Commits

Author	SHA1	Message	Date
Peter Barker	ad4c29748e	AP_NavEKF: getYawData also provides number of clipping models ... In the case of the compass calibrator we do not want to use the GSF result if any model is degenerate. We've had a compass calibrate in flight 180-degrees out from what it should have.	2022-05-11 17:45:47 +10:00
Randy Mackay	291d709409	AP_NavEKF: GSF comment typo fix	2022-04-22 15:24:11 +09:00
Andrew Tridgell	3235747ef8	AP_NavEKF: allow for double EKF build	2021-07-10 07:20:41 +10:00
Peter Barker	a3dcf5a6ff	AP_NavEKF: move GSF logging from EKF files into GSF files	2021-02-23 12:36:33 +11:00
Randy Mackay	754002525e	AP_NavEKF: constify EKFGSF_yaw members	2020-12-16 19:18:29 +11:00
Paul Riseborough	78e10e99f5	AP_NavEKF: Add accessor for yaw estimator velocity innovation length	2020-11-16 16:01:13 +11:00
Peter Barker	3a8751d8a7	AP_NavEKF: remove unused variables	2020-10-01 21:13:20 +10:00
Paul Riseborough	5ad5498b07	AP_NavEKF: Enable external setting of yaw estimator bias states	2020-07-07 15:33:58 +10:00
Paul Riseborough	709a42cb7f	AP_NavEKF: remove unnecessary memcopy	2020-07-07 15:33:58 +10:00
Paul Riseborough	4a743a3827	AP_NavEKF: Remove unnecessary reset operations and class variables ... The setting of EKF state variances is only required when commencing or recommencing velocity fusion. The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.	2020-07-07 15:33:58 +10:00
Paul Riseborough	0ce4dd457d	AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data	2020-07-07 15:33:58 +10:00
Randy Mackay	a43beaaa23	AP_NavEKF: GSF white space fixes	2020-04-24 09:43:23 +10:00
Randy Mackay	1ee9f3a6de	AP_NavEKF: GSF getLogData and getYawData pass by reference	2020-04-24 09:43:23 +10:00
Paul Riseborough	6bb7c55bba	AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter ... AP_NavEKF: Simplify centripetal accel correction	2020-04-24 09:43:22 +10:00