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11,043 Commits 70 Branches 507 Tags 660 MiB
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111 Commits

Author SHA1 Message Date
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
Paul Riseborough 404fbafe26 AP_NavEKF : Changed timout behaviour to only reset PosVel states 2014-02-16 21:04:46 +11:00
Andrew Tridgell 24e1070eb2 AP_NavEKF: initialise quaternion from rotation matrix 2014-02-15 12:21:11 +11:00
Andrew Tridgell c6b24c521b AP_NavEKF: force healthy false when initialising 
this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-02-15 09:25:40 +11:00
Andrew Tridgell a7a44a9a5c AP_NavEKF: fixed init order warning 2014-02-15 05:48:24 +11:00
Paul Riseborough b56c8211c9 AP_NavEKF: Reduced number of Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough deb64c4cbd AP_NavEKF: Pos Vel reset after long GPS timeout 2014-02-15 05:48:23 +11:00
Paul Riseborough 7ac0172db1 AP_NavEKF: removed repeated intialisation 2014-02-15 05:48:23 +11:00
Paul Riseborough 28fb5e364b AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout 2014-02-15 05:48:23 +11:00
Paul Riseborough f74cce8b4e AP_NavEKF : Removed double to float conversions 2014-02-15 05:48:23 +11:00
Paul Riseborough 80f6dba694 AP_NavEKF: Improved control of fusion update intervals 2014-02-15 05:48:23 +11:00
Paul Riseborough 13b9daeff5 AP_NavEKF: Added constraints to Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough b123e1bb16 AP_NavEKF: Improved in-air reset behaviour 2014-02-15 05:48:22 +11:00
Paul Riseborough 1651980b9f AP_NavEKF: Improved behaviour following loss and regaining of GPS 2014-02-15 05:48:22 +11:00
Paul Riseborough 14eb63e7c9 AP_NavEKF: Made most tuning parameters Mavlink adustable 2014-02-15 05:48:22 +11:00
Andrew Tridgell f800f5592d AP_NavEKF: fixup parameter handling 2014-02-15 05:48:22 +11:00
Paul Riseborough f0f76920fa AP_NavEKF : Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough 128f71157d AP_NavEKF: Fixed bug in pre GPS fix updates 2014-02-15 05:48:22 +11:00
Paul Riseborough 357743ee2d AP_NavEKF: Adjusted tuning parameters for plane use 2014-02-15 05:48:22 +11:00
Paul Riseborough b4171853b1 AP_NavEKF: allow initialisation before GPS lock to aid indoor testing 2014-02-15 05:48:21 +11:00
Paul Riseborough 7fb60812c2 AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment 2014-02-15 05:48:21 +11:00
Paul Riseborough 9d375da550 AP_NavEKF: changed sqrt to sqrtf 2014-02-15 05:48:21 +11:00
Paul Riseborough 1f0b4b02d0 AP_NavEKF: fixed merge error that inverted static mode 2014-02-15 05:48:21 +11:00
Paul Riseborough 5219869389 AP_NavEKF : Added Z accel bias state and bootstrap initialisation method 2014-02-15 05:48:21 +11:00
Randy Mackay 301a04b74a AP_NavEKF: update params for copter 2014-02-15 05:48:21 +11:00
Paul Riseborough 5c3dea28dc AP_NavEKF : Enable staticMode to be set externally 2014-02-15 05:48:20 +11:00
Andrew Tridgell ab2a5a0672 AP_NavEKF: enable some debug 2014-02-15 05:48:20 +11:00
Paul Riseborough 0d4d287215 AP_NavEKF: comment and parameter tweaks for ground testing 2014-02-15 05:48:20 +11:00
Paul Riseborough b6b0c2a489 AP_NavEKF: fixed bug in flag reset for hgt fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough 2f3b2a7111 AP_NavEKF: second attempt at higher rate baro fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough cdbc5a3f35 AP_NavEKF: added position observations to static mode 2014-02-15 05:48:19 +11:00
Paul Riseborough da2c341914 Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed" 
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
 2014-02-15 05:48:19 +11:00
Paul Riseborough 32cc427ff4 AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed 2014-02-15 05:48:19 +11:00
Paul Riseborough 2998aa1a6a AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions 2014-02-15 05:48:19 +11:00