Paul Riseborough
60c2e81d19
AP_NavEKF2: Apply optimisations to declination fusion covariance update
...
These are the same type of optimisations that were successful with the magnetometer fusion
2015-10-20 15:21:41 +11:00
Paul Riseborough
b5e43288d4
AP_NavEKF2: Down to 12 from 14 usec for perf test[8]
2015-10-20 15:21:40 +11:00
Andrew Tridgell
d1dfd5fd01
AP_NavEKF2: use common header for optimisation level and irq disable
2015-10-20 15:21:40 +11:00
Andrew Tridgell
a017ae7e00
AP_NavEKF2: down to 218us for test[9]
2015-10-20 15:21:40 +11:00
Andrew Tridgell
fc23be8025
AP_NavEKF2: enable fine grained perf tuning for mag fusion
2015-10-20 15:21:40 +11:00
Paul Riseborough
824436dfb6
AP_NavEKF2: Explicitly define constants as floats
2015-10-20 15:21:40 +11:00
Paul Riseborough
1a1236f764
AP_NavEKF2: Update magnetometer fusion documentation
2015-10-20 15:21:39 +11:00
Paul Riseborough
8526a8ba7e
AP_NavEKF2: Level processor loading between frames
...
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
2015-10-20 15:21:39 +11:00
Paul Riseborough
baa8692960
AP_NavEKF2: Allow use of magnetometer learning during optical flow nav
...
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
2015-10-20 15:21:38 +11:00
Paul Riseborough
1b8a93ef0c
AP_NavEKF2: Update function header comments
2015-10-20 15:21:38 +11:00
Paul Riseborough
84a02efd52
AP_NavEKF2: Improve efficiency of Z magnetometer fusion
2015-10-20 15:21:37 +11:00
Paul Riseborough
99c2dc41e0
AP_NavEKF2: Miscellaneous tuning changes
2015-10-20 15:21:37 +11:00
Paul Riseborough
b142cc7fd2
AP_NavEKF2: Rename files and re-distribute content
2015-10-10 14:48:50 +09:00
