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702 Commits

Author SHA1 Message Date
Paul Riseborough 1b8a93ef0c AP_NavEKF2: Update function header comments 2015-10-20 15:21:38 +11:00
Paul Riseborough 6899767d28 AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference 2015-10-20 15:21:38 +11:00
Paul Riseborough 242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough e7de2d3ea3 AP_NavEKF: Update magnetic field learning options 
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
 2015-10-20 15:21:38 +11:00
Paul Riseborough 495809f211 AP_NavEKF2: Allow magnetic field learning to be faster 2015-10-20 15:21:38 +11:00
Paul Riseborough 84a02efd52 AP_NavEKF2: Improve efficiency of Z magnetometer fusion 2015-10-20 15:21:37 +11:00
Paul Riseborough 35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough 4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough 71c399674a AP_NavEKF2: Delay use of magnetic field states until off-ground 
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 99c2dc41e0 AP_NavEKF2: Miscellaneous tuning changes 2015-10-20 15:21:37 +11:00
Paul Riseborough 47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough 27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough 67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough 0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell 2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay 35769035d4 AP_NavEKF2: resolve compiler warning related to init order 2015-10-15 20:03:05 +09:00
Paul Riseborough 0c61e09b70 AP_NavEKF2: Critical big fix - states not initialised 
The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
 2015-10-15 09:52:55 +11:00
Paul Riseborough e3013b493b AP_NavEKF2: Critical bug fix - perf counter not initialised 2015-10-15 09:48:13 +11:00
Paul Riseborough 20a3f9782e AP_NavEKF2: Add full set of selectable pre-flight GPS checks 2015-10-10 21:22:53 +09:00
Paul Riseborough db4dfce7b1 AP_NavEKF2: Add fix status to GPS check report message 2015-10-10 14:49:07 +09:00
Paul Riseborough 22920aafad AP_NavEKF2: Improve GPS status reporting 2015-10-10 14:48:59 +09:00
Paul Riseborough 1cb2220107 AP_NavEKF2: Critical Bugfix 2015-10-10 14:48:54 +09:00
Paul Riseborough f467a89fa3 AP_NavEKF2: Update comments for filter status output function 2015-10-10 14:48:52 +09:00
Paul Riseborough b142cc7fd2 AP_NavEKF2: Rename files and re-distribute content 2015-10-10 14:48:50 +09:00
Siddharth Bharat Purohit 1ce3276d74 AP_NavEKF2: split EKF control and output get functions from state specific libs 2015-10-10 14:48:48 +09:00
Siddharth Bharat Purohit 2e388fb2f9 AP_NavEKF2: split otp flow from PosVelNED 2015-10-10 14:48:46 +09:00
Siddharth Bharat Purohit 290ea0e1e8 AP_NavEKF2: split up EKF_core into different files 2015-10-10 14:48:44 +09:00
Paul Riseborough cde140354a AP_NavEKF2: Clean up control logic 2015-10-05 13:35:32 +09:00
Paul Riseborough f4db78fc11 AP_NavEKF2: Allow for larger gyro bias errors 
MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
 2015-10-05 13:35:29 +09:00
Paul Riseborough 325f4139fe AP_NavEKF2: Clean up mode change logic 2015-10-05 13:35:26 +09:00
Paul Riseborough ef624199f9 AP_NavEKF2: Enable GPS velocity fusion to be inhibited 2015-10-05 13:35:23 +09:00
Paul Riseborough 53e58f1075 AP_NavEKF2: Update default parameters 
Updates from preliminary tuning in Replay
 2015-09-25 19:22:56 +10:00
Paul Riseborough 2fb72b6e6a AP_NavEKF2: Clean up loss of GPS logic 2015-09-25 19:20:52 +10:00
Paul Riseborough df0eb9d9d7 AP_NavEKF2: Don't run GPS checks when not required 2015-09-25 19:20:52 +10:00
Paul Riseborough 1986af021f AP_NavEKF2: Remove un-used flight mode and duplicate variable 2015-09-25 19:20:52 +10:00
Paul Riseborough 7230472516 AP_NavEKF2: Adjust parameter defaults 2015-09-25 19:20:52 +10:00
Paul Riseborough 8bcedb228b AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1 2015-09-25 19:20:52 +10:00
Randy Mackay 015f700bc0 AP_NavEKF2: getLastYawResetAngle returns last reset time 2015-09-24 16:57:38 +09:00
Paul Riseborough 80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough 4acd6c129a AP_NavEKF2: Update parameters 2015-09-24 12:58:43 +10:00
Paul Riseborough 9c5e48e7e9 AP_NavEKF2: Remove unused variables and improve variable names 2015-09-24 12:58:43 +10:00
Paul Riseborough 4a7714e15d AP_NavEKF2: Remove unused parameters and improve naming consistency 2015-09-24 12:58:43 +10:00
Paul Riseborough 8afb26087d AP_NavEKF2: Remove unused function 2015-09-24 12:58:43 +10:00
Andrew Tridgell fe76662faf AP_NavEKF2: added set_enable() API 2015-09-23 18:55:12 +10:00
Paul Riseborough f270573acc AP_NavEKF2: Use library functions for quaternion corrections 2015-09-23 17:48:48 +10:00
Andrew Tridgell cbc62238a9 AP_NavEKF2: run astyle for reformatting 2015-09-23 17:29:28 +10:00
Andrew Tridgell 760dafbb9d AP_NavEKF2: added enabled() function 2015-09-23 12:09:26 +10:00
Andrew Tridgell b4555f30a5 AP_NavEKF2: added frontend calls to core code 2015-09-23 11:56:42 +10:00
Andrew Tridgell 3ac75aeffb AP_NavEKF2: added EK2_ENABLE parameter 2015-09-23 11:56:42 +10:00
Paul Riseborough f500474a86 AP_NavEKF2: initial import of new maths EKF 2015-09-23 09:51:14 +10:00