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659 Commits

Author SHA1 Message Date
Andrew Tridgell 5578552574 AP_NavEKF: fixed example for new API 2014-02-15 05:29:48 +11:00
Andrew Tridgell 2acf1e7ce5 AP_NavEKF: allow filter to run as single or double precision 
useful for checking if there are numerical precision issues
 2014-02-15 05:29:48 +11:00
Paul Riseborough efd444b02e AP_NavEKF: covariance protection (not enabled) and tuning changes for stability 2014-02-15 05:29:48 +11:00
Paul Riseborough be9f276f45 AP_NavEKF: fixed compass offset sign error 2014-02-15 05:29:48 +11:00
Andrew Tridgell ee774f69d0 AP_NavEKF: fixed some time handling bugs 
use get_delta_time() and removed broken time wrap code
 2014-02-15 05:29:48 +11:00
Andrew Tridgell 95c5aeaa43 AP_NavEKF: removed more unused variables 2014-02-15 05:29:47 +11:00
Andrew Tridgell a53fc0636a AP_NavEKF: zero more variables on filter re-init 2014-02-15 05:29:47 +11:00
Andrew Tridgell 91cbad52a1 AP_NavEKF: handle conversion of AHRS to handle altitude 
fixed accuracy of position for cm level lat/lng
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 9ef71a9dec AP_NavEKF: added healthy() API 2014-02-15 05:29:46 +11:00
Andrew Tridgell bfd48a95b7 AP_NavEKF: fixed example build 2014-02-15 05:29:45 +11:00
Andrew Tridgell ea0f9392ef AP_NavEKF: don't report altitude yet, and removed debug code 2014-02-15 05:29:45 +11:00
Andrew Tridgell 33673c954d AP_NavEKF: implemented getRotationBodyToNED() 2014-02-15 05:28:10 +11:00
Andrew Tridgell 2c86a490ed AP_NavEKF: make it possible for NavEKF to be a AHRS member 
ready for AHRS integration
 2014-02-15 05:28:09 +11:00
Paul Riseborough 6f31961fb5 AP_NavEKF: Added height rate adaptive wind speed process noise 2014-02-15 05:28:09 +11:00
Paul Riseborough de884dabab AP_NavEKF: brought some tuning parameters out to header 2014-02-15 05:28:09 +11:00
Paul Riseborough 3ee5ef852b AP_NavEKF : improved On Ground check 2014-02-15 05:28:09 +11:00
Paul Riseborough 8bc14d09b2 AP_NavEKF : remove onGround airspeed detect bug 2014-02-15 05:28:09 +11:00
Paul Riseborough a507fa7570 AP_NavEKF : remove debug code 2014-02-15 05:28:09 +11:00
Paul Riseborough 2f95685bfc Plane : EKF data logging fixes 2014-02-15 05:28:09 +11:00
Paul Riseborough 6b9733c013 AP_NavEKF : Additional flash logging 2014-02-15 05:28:09 +11:00
Paul Riseborough c28e89e4b7 AP_NavEKF: bug fixes for height fusion and covariance initialisation 2014-02-15 05:28:08 +11:00
Paul Riseborough aed6c79135 AP_NavEKF: Added gyro bias variance scale for on-ground 2014-02-15 05:28:08 +11:00
Paul Riseborough cb42e1e490 AP_NavEKF: Added public function to get NED position 2014-02-15 05:28:08 +11:00
Paul Riseborough 2c567cd721 AP_NavEKF: Added tuning parameter for onGround yaw gyro variance 2014-02-15 05:28:08 +11:00
Paul Riseborough 9515f6c745 AP_NavEKF: Cleaned up on-ground state and covariance update logic 2014-02-15 05:28:08 +11:00
Andrew Tridgell 9c5647eef3 AP_NavEKF: stop log for gdb friendly playback 2014-02-15 05:28:08 +11:00
Andrew Tridgell 4adf6000f3 AP_NavEKF: only build on fast CPUs 2014-02-15 05:28:08 +11:00
Paul Riseborough 1647ba9bd0 AP_NavEKF: Reduced heading drift on ground 2014-02-15 05:28:08 +11:00
Paul Riseborough 63d8b1bb0b AP_NavEKF: Scheduler Improvements 2014-02-15 05:28:07 +11:00
Andrew Tridgell df42dd691c AP_NavEKF: added perf counters on PX4 2014-02-15 05:28:07 +11:00
Andrew Tridgell 3d6cb9eade AP_NavEKF: use float arrays when not doing bounds checking 
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
 2014-02-15 05:28:07 +11:00
Andrew Tridgell 010250a966 AP_NavEKF: use quaternion normalize and cleanup sqrt calls 2014-02-15 05:28:07 +11:00
Paul Riseborough 406fb31a57 AP_NavEKF: Load levelling scheduler - first attempt 2014-02-15 05:28:07 +11:00
Andrew Tridgell 163cfd839d AP_NavEKF: enable airspeed and fix getLLH() 2014-02-15 05:28:07 +11:00
Andrew Tridgell 4771a4fc77 AP_NavEKF: use radians values from AHRS directly 2014-02-15 05:27:53 +11:00
Paul Riseborough 6b798d2821 AP_NavEKF: first working GPS + Mag fusion 2014-02-15 05:27:53 +11:00
Paul Riseborough bccadb6e25 AP_NavEKF: first working GPS fusion 2014-02-15 05:27:53 +11:00
Andrew Tridgell 90cd04def3 AP_NavEKF: fixed build for non-Linux 2014-02-15 05:27:53 +11:00
Andrew Tridgell 0b71618f4f AP_NavEKF: use vectorN to make indexes safe 2014-02-15 05:27:53 +11:00
Andrew Tridgell e972acbc9f AP_NavEKF: removed delay callback 2014-02-15 05:27:53 +11:00
Andrew Tridgell 8f16647a0c AP_NavEKF: added write_flot valgrind functions 2014-02-15 05:27:53 +11:00
Andrew Tridgell a8ddd51355 AP_NavEKF: added pause to gnuplot scripts 2014-02-15 05:27:53 +11:00
Andrew Tridgell 4298625daf AP_NavEKF: added convenient plotting scripts 2014-02-15 05:27:53 +11:00
Paul Riseborough fca1090694 AP_NavEKF: debug updates 2014-02-15 05:27:53 +11:00
Andrew Tridgell 95f51123d7 AP_NavEKF: added plot.dat output 2014-02-15 05:27:53 +11:00
Andrew Tridgell 050b0fb9f1 AP_NavEKF: fixed compass declination, baro cal and time shift 
now runs much faster
 2014-02-15 05:27:53 +11:00
Andrew Tridgell 776cedf368 AP_NavEKF: try running EKF on log data 2014-02-15 05:27:52 +11:00
Andrew Tridgell ffce1f64cc AP_NavEKF: added euler angle functions 2014-02-15 05:27:52 +11:00
Andrew Tridgell 977ad4bbf6 AP_NavEKF: added dataflash log reader 
this gives log playback into HIL
 2014-02-15 05:27:52 +11:00
Andrew Tridgell f3dfde2025 AP_NavEKF: initial test sketch for NavEKF 2014-02-15 05:27:52 +11:00
Paul Riseborough 361bb5b18f AP_NavEKF: Updated comments in header file 2014-02-15 05:27:52 +11:00
Paul Riseborough 00df068967 AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix 2014-02-15 05:27:52 +11:00
Andrew Tridgell eb505eef91 AP_NavEKF: fixed build for APM environment 2014-02-15 05:27:52 +11:00
Paul Riseborough 0dd5463e77 AP_NavEKF : Changed file and variable names 2014-02-15 05:27:52 +11:00
Paul Riseborough 1e993d2ef5 AP_NavEKF: Added constructor for measurements 2014-02-15 05:27:52 +11:00
Paul Riseborough 4a7f81e50a AP_NavEKF: Corrected height update timeout error 2014-02-15 05:27:51 +11:00
Paul Riseborough 0f3ebb8e31 AP_NavEKF: Updated measurement fusion control 2014-02-15 05:27:51 +11:00
Paul Riseborough c557bd7df5 AP_NavEKF: Updated GPS input processing 2014-02-15 05:27:51 +11:00
Paul Riseborough 1d4b040c67 AP_NavEKF: Inertial Navigation Code - 24 State EKF 
initial version converted from matlab
 2014-02-15 05:27:51 +11:00