Paul Riseborough
04228e0b3b
AP_NavEKF2: Rework selection of height measurements for fusion
...
GPS height has been added as a measurement option along with range finder and baro
Selection of the height measurement source has been moved into a separate function
Each height source is assigned its own measurement noise
If GPS or baro alt is not able to be used, it reverts to baro
When baro is not being used, an offset is continually calculated which enables a switch to baro without a height step.
2015-11-18 11:18:42 +11:00
Paul Riseborough
6522fb2621
AP_NavEKF2: Allow user to relax pre-flight GPS checks
2015-11-12 20:39:15 +11:00
Andrew Tridgell
2ab2afc86a
AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs
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no voting between multiple IMUs yet
2015-11-06 10:42:58 +11:00
Paul Riseborough
b6d63d4b4e
AP_NavEKF2: Fix reporting of pre-flight GPS checks
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Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
2015-11-02 14:12:16 +11:00
Paul Riseborough
5533a9a149
AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion
2015-10-30 15:34:23 +09:00
Andrew Tridgell
d1dfd5fd01
AP_NavEKF2: use common header for optimisation level and irq disable
2015-10-20 15:21:40 +11:00
Paul Riseborough
242b9641c8
AP_NavEKF2: Fix in-air logic bug
2015-10-20 15:21:38 +11:00
Paul Riseborough
4e928bf294
AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements
2015-10-20 15:21:37 +11:00
Paul Riseborough
0dc570b5a5
AP_NavEKF2: Improve optical flow takeoff detection logic
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Ensure takeoff detect status goes to false when on ground
2015-10-20 15:21:36 +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
22920aafad
AP_NavEKF2: Improve GPS status reporting
2015-10-10 14:48:59 +09:00
Siddharth Bharat Purohit
290ea0e1e8
AP_NavEKF2: split up EKF_core into different files
2015-10-10 14:48:44 +09:00
