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
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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
