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66 Commits

Author SHA1 Message Date
Paul Riseborough b08817554e AP_NavEKF2: Ensure consistent position and velocity fusion rates when not using GPS 
This sets the fusion of the synthetic position and velocity to occur at the same time as the barometer

This makes filter tuning more consistent between GPS and non-GPS useage
 2015-10-21 17:27:00 +11:00
Paul Riseborough 1c347e8859 AP_NavEKF: Prevent high measurement data rates from overflowing buffers 
High measurement data rates can fill buffers with data that is always new and never fused because it is over-written before it falls behind the measurement time horizon.
 2015-10-21 17:27:00 +11:00
Paul Riseborough d1a090dda8 AP_NavEKF: Fix bug fetching data from measurement buffers 
This bug can result in valid data being rejected and fused at the wrong time horizon.
 2015-10-21 17:27:00 +11:00
Paul Riseborough e6312d91ce AP_NavEKF2: Correct variable name 2015-10-21 17:27:00 +11:00
Paul Riseborough 4640673cb1 AP_NavEKF2: Fix bug causing incorrect fusion timing 2015-10-21 17:27:00 +11:00
Paul Riseborough ab8c28a7cc AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding 
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
 2015-10-20 20:16:00 +11:00
Paul Riseborough e076ed7f66 AP_NavEKF2: Remove compiler warning message 2015-10-20 18:16:16 +11:00
Paul Riseborough 0f530bb5a0 AP_NavEKF2: Correct comments 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
Paul Riseborough 2fbd050418 AP_NavEKF2: Use blended accelerometer data 
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
 2015-10-20 15:21:40 +11:00
Paul Riseborough 225b81baf4 AP_NavEKF2: Prevent users breaking filter by setting excessive time delays 
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
 2015-10-20 15:21:39 +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 67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough db4dfce7b1 AP_NavEKF2: Add fix status to GPS check report message 2015-10-10 14:49:07 +09:00
Paul Riseborough 22920aafad AP_NavEKF2: Improve GPS status reporting 2015-10-10 14:48:59 +09:00
Paul Riseborough b142cc7fd2 AP_NavEKF2: Rename files and re-distribute content 2015-10-10 14:48:50 +09:00