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420 Commits

Author SHA1 Message Date
Lucas De Marchi 3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker 1e83ef3c44 AP_NavEKF2: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
priseborough f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
Michael du Breuil dffa3d3b40 AP_NavEKF2: Fix possible compass nullptr dereference 2017-08-01 15:25:05 +01:00
priseborough ac568bae53 AP_NavEKF2: Initialise EKF origin height to field elevation 
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
 2017-07-17 02:22:02 +01:00
priseborough 027552ef44 AP_NavEKF2: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
Peter Barker 5da3759ff4 AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Randy Mackay 7e7f78d4b5 AP_NavEKF2: final mag reset at 2.5m 2017-07-08 08:39:43 +09:00
priseborough c69c5440a0 AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator 2017-06-26 14:58:06 +01:00
priseborough ce8e935896 AP_NavEKF2: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough b7e6e6f95f AP_NavEKF2: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Andrew Tridgell cbffc29f0b AP_NavEKF2: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
priseborough 647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles 
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
 2017-06-19 06:09:07 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 7426bdb9b7 AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter 2017-06-16 12:05:20 +01:00
priseborough b42fb31d7d AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK 
Turn off by default.
Update parameter description
 2017-06-14 12:44:41 +01:00
priseborough fd25450632 AP_NavEKF2: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
priseborough 1985dcd366 AP_NavEKF2: Fix bug in declination fusion 2017-06-03 15:16:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 3f6059397c AP_NavEKF2: Add missing @RebootRequired: True 2017-05-27 01:55:55 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 38b19b9eee AP_NavEKF2: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
priseborough 2d4eee0cce AP_NavEKF2: documentation update 2017-05-01 14:24:55 +10:00
Andrew Tridgell 2de8777669 AP_NavEKF2: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
priseborough e48f46c98b AP_NavEKF2: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 082f429da3 AP_NavEKF2: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
priseborough 596b20eb07 AP_NavEKF2: close perf counter when doing early return 2017-04-27 20:14:21 +10:00
priseborough 88469ce80c AP_NavEKF2: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell d799bacd7d AP_NavEKF2: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Andrew Tridgell 9f3c2cb704 AP_NavEKF2: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
Jonathan Challinger c53125f3b5 AP_NavEKF2: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
Jacob Walser 646d68c76d AP_NavEKF2: Fix parameter metadata 2017-03-22 16:16:26 -07:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough 407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough 8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough b7c4945000 AP_NavEKF2: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Randy Mackay 563be389ee AP_NavEKF2: only use downward facing rangefinder 2017-02-27 15:18:10 +09:00
Michael du Breuil 8b69f1708e NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF 2017-02-22 11:53:42 -08:00
Jacob Walser e7a34b0fb3 AP_NavEKF2: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough a1d41edc4e AP_NavEKF2: Use the same mag fusion method for all cores 
The original reason for using a different method for the second core is no longer valid.
 2017-02-15 19:01:10 +00:00
priseborough 5cd403c0b9 AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough a63eac8073 AP_NavEKF2: Add missing perf_end 2017-01-27 16:57:42 +09:00
priseborough 7ea37029b6 AP_NavEKF2: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 715d094678 AP_NavEKF2: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Francisco Ferreira c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25 2017-01-09 16:16:14 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 9389ec2274 AP_NavEKF2: fix parameter descriptions 2017-01-09 13:30:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00