15 Commits

Author	SHA1	Message	Date
Randy Mackay	4b5d07252e	Copter: ekf_check ok if optflow pos available	2015-04-10 11:08:21 +09:00
Randy Mackay	765b8ded02	Copter: ekf check triggers if position bad	2015-03-27 00:04:41 -07:00
Randy Mackay	74b98b89d0	Copter: remove dcm check	2015-03-27 00:04:37 -07:00
Randy Mackay	28b98a170b	Copter: fix to dcm-check to be continuous ... dcm-check was triggering after 10 bad headings but these did not need to be continuous meaning if the vehicle was flown long enough it would almost certainly trigger a dcm-check failure and land	2014-10-27 12:37:56 +09:00
Randy Mackay	6becb1a722	Copter: add DCM check of yaw error ... Triggers an "ekf" failsafe if the DCM yaw error is > 60deg	2014-10-16 17:22:14 +09:00
Randy Mackay	21d56735ca	Copter: increase EKF_CHECK_THRESH default to 0.8 ... Also remove unused #define related to inertial nav check (now removed)	2014-09-09 14:59:27 +09:00
Randy Mackay	c87283af98	Copter: remove inav check ... the EKF check works reliably but attempts to check the inertial nav for errors has not been successful. I could not find a way to reliably catch flyaways without also introducing false positives (and thus unwanted LANDings)	2014-08-20 14:39:56 +09:00
priseborough	162b824424	Copter : Distinguish between EKF and INAV errors	2014-08-18 14:17:50 +09:00
Randy Mackay	4723ed5e6e	Copter: rename EKF check's error message to dataflash ... It checks more than the compass so the old error message was misleading.	2014-08-09 15:48:42 +09:00
Randy Mackay	c7ba44db2d	Copter: increase ekf check threshold for inav ... This increases the accel correction from 60cm/s to 80cm/s before the ekf check will trigger a land	2014-08-04 15:06:37 +09:00
Randy Mackay	b29f8968ce	Copter: clarify EKF check msg to GCS ... remove "compass" from the error message because the failure can also be caused by GPS glitches	2014-08-02 16:14:20 +09:00
Randy Mackay	004eb168fb	Copter: remove unused var from ekf check	2014-08-01 15:06:19 +09:00
Randy Mackay	b52f8351e8	Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH ... Renamed because this threshold is now used for both compass and velocity variance. Also minor reorganisation of ekfcheck but no functional change.	2014-07-31 22:58:43 +09:00
priseborough	d9bb3965ac	Copter: prevent false triggering of ekf_check	2014-07-31 22:58:29 +09:00
Randy Mackay	65bc498d4e	Copter: add ekf check of compass ... Checks the EKF's compass variance or the inertial navigations x and y acceleration corrections	2014-07-22 23:13:20 +09:00