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742 Commits

Author SHA1 Message Date
Peter Barker 2d7a4b318d AP_NavEKF: tidy creation of vectors 2024-06-11 09:38:54 +10:00
Andrew Tridgell 242a3741e3 AP_NavEKF: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Peter Barker cd8f081611 AP_NavEKF: correct setting of _filled 
Co-authored-by: luweiagi <luweiagi@163.com>
 2024-04-10 21:53:54 +10:00
Peter Barker 99f5e74a8e AP_NavEKF: correct initialisation of ekf_imu_buffer 
this init() call can be called on an existing buffer, in which case we clear the object.

Presumably since we've just zeroed all the elements its safe to say that we should mark the object as having never-been-filled
 2024-04-10 21:53:54 +10:00
Peter Barker 8452f5f0cd AP_NavEKF: add tests for ekf_imu_buffer 2024-04-10 21:53:54 +10:00
Peter Barker a9b328e4de AP_NavEKF: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Andy Piper f7c86cc06a AP_NavEKF: fallback to no baro on boards that have no baro 2023-08-23 18:25:26 +10:00
Paul Riseborough 2572c9be48 AP_NavEKF: Allow EK3_SRCx_POSZ to be set to 0 (NONE) 2023-08-23 18:25:26 +10:00
Andy Piper 0408ff0ab1 AP_NavEKF: ensure gyro biases are numbers 
avoid errors during compass mot
 2023-03-21 12:18:33 +11:00
bugobliterator 4e93e99fe5 AP_NavEKF: Five IMUs need slightly more stack space with GCC 6.3.1 
The extra space is take by the inactive sensor bias state code.
 2023-03-21 10:04:16 +11:00
Peter Barker 88e164aed3 AP_NavEKF: add and use AP_BEACON_ENABLED 2022-11-16 08:16:31 +11:00
Peter Barker 00f72575c3 AP_NavEKF: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
nrt 5decc08dd4 AP_NavEKF: added a getter function for active source set 2022-08-18 02:05:27 -04:00
Andrew Tridgell a941e4cd41 AP_NavEKF: re-implemented EKF ring buffer 
this fixes a bug where elemnts being pushed into the buffer more
slowly than we recall can be lost

for example, if you push a single element in then try a recall it will
fail
 2022-06-24 20:25:39 +10:00
Andrew Tridgell 19da623077 AP_NavEKF: added test suite for EKF ring buffer 2022-06-24 20:25:39 +10:00
Pierre Kancir 83dd5be637 AP_NavEKF: fix line ending 2022-06-08 08:16:42 +09:00
Andrew Tridgell 72470e290c AP_NavEKF: fixed use of configured() vs configured_in_storage() 2022-06-06 13:11:50 +10:00
Randy Mackay 6553b9145a AP_NavEKF: filter status gets dead_reckoning bit 2022-05-25 20:05:21 +09:00
Peter Barker ad4c29748e AP_NavEKF: getYawData also provides number of clipping models 
In the case of the compass calibrator we do not want to use the GSF
result if any model is degenerate.  We've had a compass calibrate in
flight 180-degrees out from what it should have.
 2022-05-11 17:45:47 +10:00
Randy Mackay 291d709409 AP_NavEKF: GSF comment typo fix 2022-04-22 15:24:11 +09:00
Randy Mackay 9d73cfb28f AP_NavEKF: GSF logging in deg from 0 to 360 2022-04-19 08:56:40 +10:00
RuffaloVM 4d40ef5d0a AP_NavEKF : remove the space around the operator 2022-03-08 09:19:52 +09:00
Peter Barker 884450868e AP_NavEKF: use length_squared in place of length 2022-02-28 16:20:14 +11:00
Andy Piper 9084d19273 AP_NavEKF: disable warnings on clang 2022-02-13 14:43:37 +11:00
Andrew Tridgell a6142fa3dd AP_NavEKF: added rejecting_airspeed flag in EKF status 2022-02-07 14:13:49 +11:00
Peter Barker 1db7e9e2e2 AP_NavEKF: log EKF data source set changes 2021-08-11 19:28:28 +09:00
Willian Galvani fe99d3e217 AP_NavEKF_Source: add vertical position to pre_arm_check() description 2021-08-04 21:42:39 +09:00
Andrew Tridgell b83c7f3025 AP_NavEKF: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker b89824b3ba AP_NavEKF: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
bugobliterator 6988bf862b AP_NavEKF: fix running out of max stack limit on debug builds 2021-07-21 11:27:52 +10:00
Andrew Tridgell b11450c18c AP_NavEKF: review feedback 2021-07-10 07:20:41 +10:00
Andrew Tridgell 338ab28dea AP_NavEKF: larger frame limit for --enable-math-check-indexes 2021-07-10 07:20:41 +10:00
Andrew Tridgell 3235747ef8 AP_NavEKF: allow for double EKF build 2021-07-10 07:20:41 +10:00
murata 0536be1c88 AP_NavEKF: Change misnomer (NFC) 2021-03-19 17:49:27 +11:00
Paul Riseborough afb31bc4f5 AP_NavEKF: Add underflow protection to yaw GSF weight normalisation 
This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
 2021-03-05 12:10:01 +11:00
murata 6e6e807223 AP_NavEKF: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Peter Barker a3dcf5a6ff AP_NavEKF: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Randy Mackay 8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay 77af6df730 AP_NavEKF: rename EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Randy Mackay 0fb168d6ab AP_NavEKF: source supports GSF yaw 2021-01-05 10:58:06 +11:00
Randy Mackay 5891c6ace8 AP_NavEKF3: separate GPS yaw from ExtNav yaw 2021-01-05 10:58:06 +11:00
Randy Mackay fca8eb0778 AP_NavEKF_Source: add ExtNav yaw source 2021-01-05 10:58:06 +11:00
Arsh 3df1bd84e1 AP_NavEKF_Source:Fixed some style issues 2020-12-28 08:46:24 +09:00
Randy Mackay 20f1603b73 AP_NavEKF: source skips compass pre-arm check 2020-12-21 16:56:38 +09:00
Randy Mackay 4998b536b4 AP_NavEKF: source returns YawSource None if COMPASS_USE all zero 2020-12-21 16:56:38 +09:00
Randy Mackay dfd1c23cd3 AP_NavEKF: source format fix 2020-12-21 16:56:38 +09:00
Andrew Tridgell 218c0e4385 AP_NavEKF: Source's active_source_set becomes index 2020-12-21 16:56:38 +09:00
Andrew Tridgell 89f9b9e9b0 AP_NavEKF3: use AP_Enum to make code clearer 2020-12-21 16:56:38 +09:00
Randy Mackay 754002525e AP_NavEKF: constify EKFGSF_yaw members 2020-12-16 19:18:29 +11:00