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
Randy Mackay
000a2b17c3
AP_NavEKF_Source: remove unused setVelZSource
2020-12-05 08:30:55 +09:00
Randy Mackay
7f15b7b126
AP_NavEKF_Source: prearm check of wheelencoders
2020-12-01 14:01:17 +09:00
Andrew Tridgell
4fdbbd8984
AP_NavEKF: added functions to see if a nav source is enabled
...
this allows us to avoid initialising ring buffers when not needed
2020-12-01 10:53:08 +11:00
Andrew Tridgell
ab917ed92e
AP_NavEKF: add more protections on ring buffer code
...
declare an internal error if we try to access an element when not
initialised
2020-12-01 10:53:08 +11:00
Peter Barker
fdbffd19c6
AP_NavEKF_Source: remove defaults for baro and compass
...
This makes all our defaults "NONE", meaning that a user will not see a
prearm failure for any source other than those in the primary set when
using the default configuration.
2020-11-25 15:19:00 +11:00
Peter Barker
8124c3fea8
AP_NavEKF_Source: set compass_required if we require a compass
2020-11-25 15:19:00 +11:00
Randy Mackay
6c3948f417
AP_NavEKF_Source: optimise configured_in_storage
...
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
2020-11-24 12:10:27 +11:00
Andrew Tridgell
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
2020-11-20 21:56:32 +11:00
Andrew Tridgell
e4a9497942
AP_NavEKF: added common EKF buffer classes
2020-11-20 21:56:32 +11:00
Randy Mackay
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
2020-11-20 16:43:44 +09:00
Randy Mackay
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
2020-11-20 16:43:44 +09:00
Randy Mackay
9b84abecaa
AP_NavEKF_Source: enables dynamically changing sensor sources
2020-11-20 16:43:44 +09:00
Paul Riseborough
78e10e99f5
AP_NavEKF: Add accessor for yaw estimator velocity innovation length
2020-11-16 16:01:13 +11:00
Andrew Tridgell
97a2c5a576
AP_NavEKF: removed Log_EKF_Timing
...
not needed for new replay
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
Peter Barker
3a8751d8a7
AP_NavEKF: remove unused variables
2020-10-01 21:13:20 +10:00
Paul Riseborough
5ad5498b07
AP_NavEKF: Enable external setting of yaw estimator bias states
2020-07-07 15:33:58 +10:00
Paul Riseborough
709a42cb7f
AP_NavEKF: remove unnecessary memcopy
2020-07-07 15:33:58 +10:00
Paul Riseborough
4a743a3827
AP_NavEKF: Remove unnecessary reset operations and class variables
...
The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
2020-07-07 15:33:58 +10:00
Paul Riseborough
0ce4dd457d
AP_NavEKF: Fix one frame delay in processing yaw estimator velocity data
2020-07-07 15:33:58 +10:00
Randy Mackay
a43beaaa23
AP_NavEKF: GSF white space fixes
2020-04-24 09:43:23 +10:00
Randy Mackay
1ee9f3a6de
AP_NavEKF: GSF getLogData and getYawData pass by reference
2020-04-24 09:43:23 +10:00
Paul Riseborough
51b62a34b9
AP_NavEKF: Use better type for array index
2020-04-24 09:43:23 +10:00
Paul Riseborough
6bb7c55bba
AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter
...
AP_NavEKF: Simplify centripetal accel correction
2020-04-24 09:43:22 +10:00
Rishabh
b0134460e5
AP_NavEKF:Logger documentation TimeUS fix
2020-04-07 18:57:01 +10:00
