13 Commits

Author	SHA1	Message	Date
Andrew Tridgell	3235747ef8	AP_NavEKF: allow for double EKF build	2021-07-10 07:20:41 +10:00
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
Peter Barker	a3dcf5a6ff	AP_NavEKF: move GSF logging from EKF files into GSF files	2021-02-23 12:36:33 +11:00
Randy Mackay	754002525e	AP_NavEKF: constify EKFGSF_yaw members	2020-12-16 19:18:29 +11:00
Paul Riseborough	78e10e99f5	AP_NavEKF: Add accessor for yaw estimator velocity innovation length	2020-11-16 16:01:13 +11:00
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