priseborough
7ae86b3979
AP_NavEKF : Track baro height observations pre-arm
...
This prevents copter from failing the pre-arm height discrepancy test
2014-03-23 18:25:50 +11:00
priseborough
7780d55788
AP_NavEKF : Prevent large magnetic field adaptations early in flight
2014-03-22 19:55:26 +11:00
Paul Riseborough
f7007569d1
AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125
...
msec
2014-03-21 21:52:20 +11:00
Paul Riseborough
b2c0979947
AP_NavEKF : Fixes bug that causes accel bias to diverge in static mode, preventing copter arming
2014-03-21 21:49:50 +11:00
Paul Riseborough
8a2d16d13d
AP_NavEKF : modifed Zaccel bias noise parameter to prevent unstable bias estimate
2014-03-20 08:50:00 +11:00
Paul Riseborough
dacba5d911
AP_NavEKF : Update default tuning parameters (for plane use)
2014-03-14 06:07:58 +11:00
Paul Riseborough
d0828d9c15
AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion
2014-03-14 06:07:58 +11:00
Paul Riseborough
a24bfc1b8a
AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed
2014-03-14 06:07:57 +11:00
Paul Riseborough
35811758d7
AP_NavEKF : Update comments and remove un-used function declarations
2014-03-14 06:07:57 +11:00
Paul Riseborough
784034170d
AP_NavEKF : increased useage of helper functions
2014-03-10 21:54:03 +11:00
Paul Riseborough
7b3130cfcc
AP_NaVEKF : Enable operation without airspeed and compass
2014-03-10 21:53:09 +11:00
Paul Riseborough
3a5acb9cea
AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment
2014-03-10 14:07:34 +11:00
Paul Riseborough
b47a11edf6
AP_NavEKF : improved static and on-ground mode selection logic
2014-03-10 04:39:59 +11:00
Paul Riseborough
15a44571c2
AP_NavEKF : enable operation without a compass for planes
2014-03-09 20:01:45 +11:00
Paul Riseborough
2019708056
AP_NavEKF : Make all compass use autodetect
2014-03-09 19:59:19 +11:00
Paul Riseborough
e485b246e7
AP_NavEKF : update comments
2014-03-09 19:59:18 +11:00
Paul Riseborough
c8bd415b00
AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer
2014-03-09 19:59:17 +11:00
Paul Riseborough
52fabc822f
AP_NavEKF : Add low speed magnetometer calibration option
2014-03-09 19:59:16 +11:00
priseborough
6ace31b6c1
AP_NavEKF : Fix bug that leaves height unconstrained in static mode
2014-03-09 19:27:21 +11:00
Paul Riseborough
94ff7522fc
AP_NavEKF : Fix bug in initial East mag field state variance
2014-03-08 07:44:34 +11:00
Andrew Tridgell
449d09051e
AP_NavEKF: cope with compass going offline while in flight
2014-03-02 14:32:10 +11:00
Andrew Tridgell
77f91e6250
AP_NavEKF: don't assume the number of gyros == number of accels
2014-03-02 13:53:19 +11:00
Paul Riseborough
ebb3cc3348
AP_NavEKF : Use average of dual IMU gyro data when available
2014-03-02 13:28:44 +11:00
Paul Riseborough
a39d00fc13
AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated
2014-03-02 13:27:22 +11:00
Paul Riseborough
573b3210dd
AP_NavEKF : Add div0 protection to the IMU1_weighting calc
2014-03-02 08:10:06 +11:00
Paul Riseborough
bd152d332c
AP_NavEKF : Add accel aliasing protection
2014-03-02 08:10:04 +11:00
Paul Riseborough
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
2014-02-28 19:43:12 +11:00
Andrew Tridgell
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
2014-02-27 17:40:13 +11:00
Paul Riseborough
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
2014-02-27 17:20:38 +11:00
Andrew Tridgell
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
2014-02-27 09:41:48 +11:00
Paul Riseborough
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
2014-02-27 08:12:10 +11:00
Paul Riseborough
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
2014-02-27 08:12:03 +11:00
Paul Riseborough
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
2014-02-25 15:55:44 +11:00
Paul Riseborough
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
2014-02-23 19:50:37 +11:00
Paul Riseborough
01c84c3f47
AP_NavEKF : fixed bug in height limit range
2014-02-23 19:50:36 +11:00
Paul Riseborough
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
2014-02-23 19:50:36 +11:00
Paul Riseborough
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
2014-02-23 19:50:35 +11:00
Paul Riseborough
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
2014-02-23 19:50:34 +11:00
Andrew Tridgell
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
2014-02-21 20:24:47 +11:00
Andrew Tridgell
20b0444c15
AP_NavEKF: remove sleep on init of EKF
...
this prevents HIL from locking up, and also prevents a possible 1s
delay in flight on EKF init
2014-02-19 22:04:12 +11:00
Andrew Tridgell
c9d0c1face
AP_NavEKF: use ahrs->get_armed() for static mode demanded
2014-02-19 10:52:57 +11:00
Andrew Tridgell
536160a3fb
AP_NavEKF: use AHRS get_correct_centrifugal()
2014-02-19 10:28:45 +11:00
Andrew Tridgell
869e41fd03
AP_NavEKF: fixed detection of airspeed sensor
...
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
2014-02-19 09:22:45 +11:00
Paul Riseborough
1ade39977a
AP_NavEKF : covariance prediction cleanup
2014-02-19 09:22:45 +11:00
Paul Riseborough
8daca145d0
AP_NavEKF : useAirspeed set automatically
2014-02-19 09:22:45 +11:00
Paul Riseborough
6fbada26d3
AP_NavEKF : Improvements to staticMode robustness
2014-02-19 09:22:45 +11:00
Paul Riseborough
7a82746fcc
AP_NavEKF : fixed bug in pos and vel reset when in static mode
2014-02-16 22:35:19 +11:00
Paul Riseborough
275ef86f86
AP_NavEKF : Position and Velocity reset bugfix
2014-02-16 21:05:37 +11:00
Paul Riseborough
b22dc706b2
AP_NavEKF : staticMode bugfix and robustness improvements
2014-02-16 21:04:55 +11:00
Paul Riseborough
2926602718
AP_NavEKF : Cleaned up InitialiseFilterDynamic
2014-02-16 21:04:51 +11:00
