Paul Riseborough
a1d6c7ae1e
AP_NavEKF2: Improve timing accuracy
...
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
2015-10-20 15:21:39 +11:00
Paul Riseborough
e0ed2dab63
AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates
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The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
2015-10-20 15:21:39 +11:00
Paul Riseborough
e7de2d3ea3
AP_NavEKF: Update magnetic field learning options
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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
35b08849f7
AP_NavEKF2: Reduce effect of rounding errors on covariance prediction
2015-10-20 15:21:37 +11:00
Paul Riseborough
47ae0f35f6
AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
2015-10-20 15:21:37 +11:00
Paul Riseborough
52fd369b2f
AP_NavEKF2: Add methods to output and calculate vertical position derivative
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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
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
Paul Riseborough
325f4139fe
AP_NavEKF2: Clean up mode change logic
2015-10-05 13:35:26 +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
7230472516
AP_NavEKF2: Adjust parameter defaults
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
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
cbc62238a9
AP_NavEKF2: run astyle for reformatting
2015-09-23 17:29:28 +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
