68 Commits

Author	SHA1	Message	Date
Paul Riseborough	04165a60a7	AP_NavEKF2: Reduce false positive on EKF health check ... Apply filtering to baro innovation check and and don't apply innovation checks once aiding has commenced because GPS and baro disturbances on the ground and during launch could generate a false positive	2015-11-08 15:37:27 +11:00
Andrew Tridgell	2ab2afc86a	AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs ... no voting between multiple IMUs yet	2015-11-06 10:42:58 +11:00
Paul Riseborough	b6d63d4b4e	AP_NavEKF2: Fix reporting of pre-flight GPS checks ... Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows Add required output methods	2015-11-02 14:12:16 +11:00
Paul Riseborough	5533a9a149	AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion	2015-10-30 15:34:23 +09:00
Randy Mackay	94adaba305	AP_NavEKF2: constify getLastPosNorthEastReset ... Also constify getLastVelNorthEastReset	2015-10-30 12:24:16 +09:00
Randy Mackay	52ed075405	AP_NavEKF2: constify getLastYawResetAngle	2015-10-30 12:24:12 +09:00
Paul Riseborough	74da4d8e57	AP_NavEKF2: Remove GPS glitch offset logic ... Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.	2015-10-30 12:24:04 +09:00
Paul Riseborough	4fdec67546	AP_NavEKF2: Publish the position and velocity state reset deltas ... Used by the control loops to compensate for step changes in position and velocity when the EKF needs to do a reset of these states.	2015-10-30 12:24:02 +09:00
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
Andrew Tridgell	d1dfd5fd01	AP_NavEKF2: use common header for optimisation level and irq disable	2015-10-20 15:21:40 +11:00
Paul Riseborough	47ae0f35f6	AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions ... Updates arising from peer review.	2015-10-20 15:21:37 +11:00
Paul Riseborough	d3a6690e4f	AP_NavEKF2: Fix bugs preventing use of optical flow navigation	2015-10-20 15:21:36 +11:00
Paul Riseborough	52fd369b2f	AP_NavEKF2: Add methods to output and calculate vertical position derivative ... This patch calculates a derivative of the vertical position (positive down). The derivative is exposed via a public function.	2015-10-20 15:21:35 +11:00
Paul Riseborough	20a3f9782e	AP_NavEKF2: Add full set of selectable pre-flight GPS checks	2015-10-10 21:22:53 +09:00
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	f467a89fa3	AP_NavEKF2: Update comments for filter status output function	2015-10-10 14:48:52 +09:00
Paul Riseborough	b142cc7fd2	AP_NavEKF2: Rename files and re-distribute content	2015-10-10 14:48:50 +09:00