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660 Commits

Author SHA1 Message Date
priseborough 6a91b294b4 AP_NavEKF: Clarify definition for gps_glitching flag 2018-03-27 20:28:54 +09:00
priseborough 7d777485d8 AP_NavEKF: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
Andrew Tridgell ae3df89d17 AP_NavEKF: added ekf_timing structure 2017-04-28 17:19:39 +10:00
Michael du Breuil 61023fc636 NavEKF: Add GPS vertical accuracy to nav_gps_flags 2017-02-22 11:53:42 -08:00
priseborough bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
Pierre Kancir f54cf6e097 AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
murata de153ce1d7 AP_NavEKF: Correct the setting process of variable dAngBiasSigma. 2016-11-24 03:24:18 +00:00
murata ec42ddfb4e AP_NavEKF: style changes (tab to spaces, etc.) 
AP_NavEKF: style changes (tab to spaces, etc.)

AP_NavEKF: style changes (tab to spaces, etc.)
 2016-11-24 03:24:18 +00:00
Andrew Tridgell a05d216ce4 AP_NavEKF: make posOffset const ref for optflow 2016-10-27 15:45:40 +11:00
priseborough b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough 8160eca47e AP_NavEKF: update flow sensor interface 
Adds a position offset which is not used by the backend
 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
priseborough d0ba259d0d AP_NavEKF: Fix bug in median filter code 2016-10-19 19:44:58 +09:00
Jonathan Challinger 3eba985afd AP_NavEKF: use exact matrix for trim rotation 2016-10-13 10:02:13 +11:00
Tom Pittenger e63e7a5336 AP_NavEKF: comment that param "Enable" index is moved to top 2016-08-04 11:32:46 -07:00
priseborough b3bfb71431 AP_NavEKF: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough 487bbc3ed2 AP_NavEKF: Fix reporting of position status 
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
 2016-07-19 12:16:48 +10:00
Paul Riseborough d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00
Paul Riseborough d59d8cc6e3 AP_NavEKF: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Ricardo de Almeida Gonzaga 267a74ebb2 AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Jonathan Challinger 6938e3d57b AP_NavEKF: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Lucas De Marchi bb0d96cedd AP_NavEKF: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Peter Barker 11760c33f6 AP_NavEKF: avoid use of undefined #defines 
Ensure EKF_DISABLE_INTERRUPTS is defined

Do not define MATH_CHECK_INDEXES, assume it is defined
 2016-02-19 12:34:24 -02:00
Paul Riseborough 1950008248 AP_NavEKF: Send correct data over mavlink status message 2016-02-01 10:02:20 +09:00
Jonathan Challinger eabede692e AP_SmallEKF: move to AP_Mount/SoloGimbalEKF and merge solo version 2016-01-23 10:35:38 +09:00
Andrew Tridgell a6c39dee84 AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory 2016-01-07 08:33:33 +11:00
Andrew Tridgell a0a4b698f6 AP_NavEKF: disable EKF1 by default 
use EKF2 instead
 2016-01-05 16:41:48 +11:00
Andrew Tridgell 0ef61b1637 AP_NavEKF: moved ENABLE param to front of list 
and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
 2016-01-04 11:14:43 +11:00
Andrew Tridgell 28a684ea03 AP_NavEKF: use get_loop_delta_t() from INS 2015-12-27 14:57:14 +09:00
Andrew Tridgell a042845da8 AP_NavEKF: avoid an optimiser bug in clang 2015-12-27 16:21:26 +11:00
Don Gagne 34d5dd0257 AP_NavEKF: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Andrew Tridgell d24f6f4050 AP_NavEKF: fixed static const bug 2015-12-20 17:55:39 +11:00
Lucas De Marchi 798b743660 AP_NavEKF: use MAX() instead of maxf() 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Luis Vale Gonçalves 40caec8afb AP_NavEKF: libraries_Text_revision 
text revision of messages
 2015-11-26 08:10:14 +11:00
Caio Marcelo de Oliveira Filho e3c317b96b AP_NavEKF: use millis/micros/panic functions 2015-11-20 12:32:31 +09:00
Andrew Tridgell 5561efde2b AP_NavEKF: we can assume get_sample_rate() returns a non-zero number 
this fixes a build error with the previous patch
 2015-11-18 11:48:50 +11:00
Paul Riseborough e32e6cfa67 AP_NavEKF: Protect against bad delta time from the INS library 
Prevent arithmetic divide by zero exceptions and handle invalid delta time in a consistent way by setting invalid times to the average.
 2015-11-18 11:43:40 +11:00
Julien BERAUD 259f5f07e8 AP_NavEKF_core: fix init of perf 
_perf_FuseOptFlow  was used and not allocated
 2015-11-14 14:44:29 +11:00
Paul Riseborough e8305c5653 AP_NavEKF: Prevent front-end from returning uninitialised data (garbage) 2015-11-09 15:56:45 +11:00
Paul Riseborough 0f8cfa02ab AP_NavEKF: Remove redundant if statement 
Thank you to OXINARF for picking up this one
 2015-11-08 17:06:57 +11:00
Paul Riseborough 2243f95074 AP_NavEKF: Enable clean entry into GPS aiding whilst in-flight 
Ensures that the latest GPS data is used to reset the states.
Separates the logic used to set the origin from the logic used to determine when to reset states and commence GPS aiding
 2015-11-08 17:06:49 +11:00
Paul Riseborough 624f169b9b AP_NavEKF: Publish enabled status 2015-11-08 15:37:27 +11:00
Siddharth Bharat Purohit 392fce76b2 AP_NavEKF: define getGpsGlitchStatus function 2015-11-08 12:55:58 +09:00
Andrew Tridgell 56909ce973 AP_NavEKF: split EKF1 into frontend and backend 
this allows the primary EKF to be allocated dynamically, allowing for
experiments with EKF2 with multi-IMU support
 2015-11-06 10:42:57 +11:00
Lucas De Marchi d00c8e3a34 AP_NavEKF: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Paul Riseborough 9b37c29efa AP_NavEKF: Improve mag earth state reset accuracy 
This removes errors in the in-flight reset of the earth field states by:

1) Using a state vector and magnetometer measurement from the same time coordinate
2) Not using the AHRS trim offsets in the calculation
 2015-11-02 17:47:01 +09:00
Paul Riseborough 0dd5a7c4fa AP_NavEKF: Use correct blended delta time for all vel and pos integration 
dtIMUactual has been spit into a separate dtDelAng and dtDelVel and dtDelVel1 and dtDelVel2 delta time in recognition of the amount of timing jitter and different update rates for the IMU's
 2015-11-02 17:47:00 +09:00
Paul Riseborough 42214ec303 AP_NavEKF: Fix failure to start mag cal due to gyro noise 
Vibration in the 400Hz delta angles could cause the angular rate condition check for in-flight magnetic field alignment to fail.
The symptons were failure to start magnetic field learning as expected when EK2_MAG_CAL=3 was set.
The calculation of a delta rotation between consecutive magnetometer samples has been introduced instead of the most recent IMU delta angle as this is less affected by noise and give an upper bound on the angular error.
the check has been moved into the magnetometer fusion control function so that any reset will be performed using fresh magnetometer data
 2015-11-02 17:46:59 +09:00