Paul Riseborough
afb31bc4f5
AP_NavEKF: Add underflow protection to yaw GSF weight normalisation
...
This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
2021-03-05 12:10:01 +11:00
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
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
51b62a34b9
AP_NavEKF: Use better type for array index
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
