Michael du Breuil
25ef5fed82
AP_NavEKF3: Suppress clearing non-trival type warning
2018-10-30 16:17:03 -07:00
Andrew Tridgell
de58fb4637
AP_NavEKF3: support in-flight compass learning
2018-10-24 07:25:42 +10:00
Peter Barker
560f17a570
AP_NavEKF3: use union to alias array and struct access to states
...
This avoids creating two pointers of different types to the same memory.
Having two pointers to the same memory can lead to the compiler
optimising code such that a write to one pointer is rearranged to be
either before or after a read from the other pointer depending on
which is deemed faster - not a good outcome.
2018-10-19 08:46:43 +11:00
Peter Barker
27e3a89158
AP_NavEKF3: correct compilation when running MATH_CHECK_INDEXES
2018-10-19 08:46:43 +11:00
Peter Barker
281fad53c2
AP_NavEKF3: always set EKF control limits, even with no cores
2018-10-09 10:47:38 +11:00
Peter Barker
b68a91d171
AP_NavEKF3: remove default clause in setAidingMode
...
All aiding modes should be covered in the switch statement; adding the
default clause squelches a potentially useful compiler warning
2018-10-03 17:49:43 +01:00
Michael du Breuil
1991f223ac
AP_NavEKF3: Fix roundoff, and missing offset handling of getLLH
2018-09-21 00:18:49 +01:00
Peter Barker
be9235a581
AP_NavEKF3: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
2018-09-11 09:03:22 +10:00
Randy Mackay
3d72022f6e
EKF: modify ALT_SOURCE param description
...
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
2018-07-18 08:31:09 +09:00
Andrew Tridgell
ac40a20c02
AP_NavEKF3: fill in gps_quality_good flag
2018-07-14 17:49:52 +10:00
Peter Barker
6bf5ffdb6d
AP_NavEKF3: use compass singleton for logging
2018-07-04 20:11:27 +01:00
murata
4d5e258b19
AP_NavEKF3: Delete unused definitions
2018-06-11 09:11:44 +09:00
murata
f0a6cd5846
AP_NavEKF3: Clarify the message
2018-06-04 11:32:15 +09:00
Andrew Tridgell
553abda91c
AP_NavEKF3: use single precision ceilf()
2018-05-07 11:43:23 +10:00
Andrew Tridgell
4869dd0ae4
AP_NavEKF3: send airspeed variance over mavlink
2018-04-30 15:41:32 +10:00
Peter Barker
901ba0034c
AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton
2018-04-18 13:50:55 +09:00
Peter Barker
a0d874baa2
AP_NavEKF3: const accessors
2018-04-07 09:56:18 +09:00
Peter Barker
6791808ac6
AP_NavEKF3: remove unneeded initialisations
...
AP_NavEKF3 should never be allocated in uninitialised memory
2018-04-07 09:54:21 +09:00
Peter Barker
d38ff1dd2c
AP_NavEKF3: initialise EKF3 constants in declaration not constructor
2018-04-07 09:54:21 +09:00
Pierre Kancir
2b2c1e2d78
AP_NavEKF3: only use bcn EKF is the alignement as been completed
2018-04-03 09:55:13 +09:00
Pierre Kancir
44a21bc8ac
EKF3: correct acos to acosf
2018-04-03 09:54:45 +09:00
Pierre Kancir
48c5a9b9c5
AP_NavEKF3: style change in BCN mesurements
2018-04-03 09:54:43 +09:00
Pierre Kancir
4d2f2a2aad
AP_NavEKF3: correct flag in case of GPS disable
2018-04-03 09:54:41 +09:00
priseborough
5785523a0d
AP_NavEKF3: Clarify definition for gps_glitching flag
2018-03-27 20:28:56 +09:00
Peter Barker
55b8a2288e
AP_NavEKF3: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
7b1a906c4e
AP_NavEKF3: use baro singleton
2018-03-08 21:20:05 -08:00
Paul Riseborough
6a1055389d
AP_NavEKF3: Fix origin height estimator indexing bug
...
EKF3 should use index 9 to access vertical position states
2018-02-21 17:04:30 +10:00
Tatsuya Yamaguchi
aef9fa4a63
AP_NavEKF3: delete \n from the log using gcs().send_text
2018-02-02 09:13:54 +09:00
murata
6a87840c7a
AP_NavEKF3: Change the if statement to a switch statement.
2018-01-28 22:20:08 +00:00
bugobliterator
ea2a880d8a
AP_NavEKF3: allocate from MEM_FAST region
2018-01-15 11:46:02 +11:00
Peter Barker
5dc714bf5f
AP_NavEKF3: use GPS singleton
2017-12-27 00:58:02 +00:00
Pierre Kancir
be96a27fa8
AP_NavEKF3: only report terrain estimator innovations with valid rng value
2017-12-18 22:51:46 +00:00
Andrew Tridgell
c13eaf0c7f
AP_NavEKF3: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Andrew Tridgell
6b30c9213a
AP_NavEKF3: delay startup until IMU buffer is filled
...
this prevents a vulnerability where the initial IMU data is processed
26 times (where 26 is the IMU buffer length)
2017-12-12 11:39:38 +11:00
Andrew Tridgell
2c6593e35e
AP_NavEKF3: fixed inverted function setInhibitGpsVertVelUse()
2017-11-29 09:47:14 +09:00
priseborough
c96bc54254
AP_NavEKF3: correctly use wheel odometry speed for pitched rovers
2017-10-31 08:11:05 +09:00
priseborough
ee6b43aabf
AP_NavEKF3: Fix bugs in use of wheel encoder data
...
Found by pavloblindnology
2017-10-28 10:58:01 +09:00
Lucas De Marchi
bd6145af6d
AP_NavEKF3: add static create method
2017-09-26 03:01:21 +01:00
Peter Barker
63440800fc
AP_NavEKF3: use rangefinder backend accessors
2017-08-15 18:30:45 +01:00
priseborough
2310cb6d19
AP_NavEKF3: Enable external control over use of GPS vertical velocity
2017-08-10 19:49:45 +10:00
Michael du Breuil
efe70c8d3a
AP_NavEKF3: Fix possible compass nullptr dereference
2017-08-01 15:25:05 +01:00
priseborough
db7c8439c6
AP_NavEKF3: Fix bug in wheel odometry timestamp correction
2017-07-28 12:48:38 +09:00
priseborough
c7f6d52065
AP_NavEKF3: Add wheel encoder odometry
...
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
2017-07-27 16:52:27 +09:00
priseborough
cbe8f97489
AP_NavEKF3: rename struct used for velocity odometry observations
...
Do this so we can add other odometry observation types.
2017-07-27 16:52:26 +09:00
priseborough
08a3f55c90
AP_NavEKF3: Fix error in scaling of observation error
2017-07-27 16:52:25 +09:00
priseborough
593437ca95
AP_NavEKF3: Add tuning of visual odometry observation error
...
Also adjust default values based on replay analysis.
2017-07-27 16:52:25 +09:00
priseborough
58d58b4eac
AP_NavEKF3: Initialise EKF origin height to field elevation
...
Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
2017-07-17 02:22:02 +01:00
priseborough
0827b13feb
AP_NavEKF3: Fix default behaviour for height origin corrections
...
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
2017-07-17 02:22:02 +01:00
Peter Barker
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
Randy Mackay
d64b2fcbf0
AP_NavEKF3: final mag reset at 2.5m
2017-07-08 08:39:43 +09:00