fb0deba3aa
AP_NavEKF2: send airspeed variance over mavlink
2018-04-30 15:41:31 +10:00
578facc9ad
AP_NavEKF2: do not pass GPS into Log_Write_GPS; it uses singleton
2018-04-18 13:50:55 +09:00
81044760c7
AP_NavEKF2: const accessors
2018-04-04 12:20:36 +01:00
12fd19ea26
AP_NavEKF2: Clarify definition for gps_glitching flag
2018-03-27 20:28:57 +09:00
c680b931dc
AP_NavEKF2: Enable fusion of external nav position data
2018-03-27 20:28:42 +09:00
40957ec430
AP_NavEKF2: use ins singleton
2018-03-16 00:37:35 -07:00
5ab89324b2
AP_NavEKF2: use baro singleton
2018-03-08 21:20:05 -08:00
5b7d5a9757
AP_NavEKF2: mark getEulerAngles as const
2018-03-07 12:34:39 +00:00
dbe860152d
AP_NavEKF2: tight types on constants
...
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
2018-03-01 20:27:19 +09:00
3a99b2bce1
AP_NavEKF: move initialisation of EKF constants into header file
...
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
2018-03-01 20:27:19 +09:00
b1213a522d
AP_NavEKF2: allocate NavEKF core from MEM_FAST region
2018-01-15 11:46:02 +11:00
9c8466dc03
AP_NavEKF2: use GPS singleton
2017-12-27 00:58:02 +00:00
171e80d8dc
AP_NavEKF2: only report terrain estimator innovations with valid rng value
2017-12-18 22:51:46 +00:00
4d4e66d825
AP_NavEKF2: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
3b32d583a9
AP_NavEKF2: Fix delta time use error
2017-12-12 11:39:38 +11:00
440d361aff
AP_NavEKF2: Limit range of delta times
2017-12-12 11:39:38 +11:00
97729a12f0
AP_NavEKF2: don't run IMU updates until buffer fills
...
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
2017-12-12 11:39:38 +11:00
4019a167a9
AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse()
2017-11-29 09:47:14 +09:00
1b4705242c
AP_NavEKF2: print reason for EKF2 arming failure when no GPS is available
2017-11-20 13:53:31 +09:00
efdc651d1a
AP_NavEKF2: Require reboot after changing ALT_SOURCE parameter
...
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
2017-10-04 00:24:15 +01:00
3c04f4e4d1
AP_NavEKF2: add static create method
2017-09-26 03:01:21 +01:00
1e83ef3c44
AP_NavEKF2: use rangefinder backend accessors
2017-08-15 18:30:45 +01:00
f2f3067326
AP_NavEKF2: Add interface to control GPS vertical velocity use
2017-08-10 19:49:45 +10:00
dffa3d3b40
AP_NavEKF2: Fix possible compass nullptr dereference
2017-08-01 15:25:05 +01:00
ac568bae53
AP_NavEKF2: Initialise EKF origin height to field elevation
...
Enables copters to set bit position 2 in the EK2_OGN_HGT_MASK parameter without having a large jump in reported local position height.
2017-07-17 02:22:02 +01:00
027552ef44
AP_NavEKF2: Fix default behaviour for height origin corrections
...
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
2017-07-17 02:22:02 +01:00
5da3759ff4
AP_NavEKF2: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
7e7f78d4b5
AP_NavEKF2: final mag reset at 2.5m
2017-07-08 08:39:43 +09:00
c69c5440a0
AP_NavEKF2: Fix calculation of predicted LOS rate in terrain estimator
2017-06-26 14:58:06 +01:00
ce8e935896
AP_NavEKF2: Fix terrain estimator innovation consistency check
2017-06-20 02:08:56 +01:00
b7e6e6f95f
AP_NavEKF2: Fix bug in flow fusion for terrain estimation
...
Also remove unused class variables
2017-06-20 02:08:56 +01:00
cbffc29f0b
AP_NavEKF2: use AHRS likely flying state
...
this sets inFlight when AHRS has indicated flying for 5s
2017-06-20 09:44:44 +10:00
647db728ce
AP_NavEKF2: Improve is flying check for non fly forward vehicles
...
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
2017-06-19 06:09:07 +10:00
7426bdb9b7
AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter
2017-06-16 12:05:20 +01:00
b42fb31d7d
AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK
...
Turn off by default.
Update parameter description
2017-06-14 12:44:41 +01:00
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
2017-06-14 12:44:41 +01:00
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
2017-06-14 12:44:41 +01:00
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
...
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
1985dcd366
AP_NavEKF2: Fix bug in declination fusion
2017-06-03 15:16:25 +01:00
3f6059397c
AP_NavEKF2: Add missing @RebootRequired: True
2017-05-27 01:55:55 +01:00
38b19b9eee
AP_NavEKF2: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
ce37517268
AP_NavEKF2: Improve comments, typos
2017-05-03 08:44:49 +09:00
2d4eee0cce
AP_NavEKF2: documentation update
2017-05-01 14:24:55 +10:00
2de8777669
AP_NavEKF2: added inter-EKF scheduling cooperation
...
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.
It allows us to run EK3 and EK2 at the same time with good scheduling
performance
2017-05-01 14:24:55 +10:00
e48f46c98b
AP_NavEKF2: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
082f429da3
AP_NavEKF2: Fix solution validity reporting bug
...
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
2017-04-28 17:19:23 +01:00
ee5c032f27
AP_NavEKF2: added recording of timing statistics
2017-04-28 17:19:39 +10:00
596b20eb07
AP_NavEKF2: close perf counter when doing early return
2017-04-27 20:14:21 +10:00
88469ce80c
AP_NavEKF2: Reset covariance if bad mag fusion update
2017-04-27 20:14:21 +10:00
d799bacd7d
AP_NavEKF2: fixed reset of coviariance matrix
2017-04-27 18:33:25 +10:00
b255c7b370
AP_NavEKF: add setOrigin
2017-04-22 10:37:31 +09:00
9f3c2cb704
AP_NavEKF2: allow access to quaternion for each instance
2017-04-16 14:01:36 +10:00
c53125f3b5
AP_NavEKF2: apply height innovation floor only when barometer is in use
2017-03-24 14:42:36 -07:00
646d68c76d
AP_NavEKF2: Fix parameter metadata
2017-03-22 16:16:26 -07:00
44fa82d58c
AP_NavEKF2: Reference correct derivation
2017-03-13 11:31:51 +11:00
407a60e599
AP_NavEKF2: log correct GPS for replay
2017-03-13 11:31:51 +11:00
8c46d4316b
AP_NavEKF2: handle position jump caused by change in GPS receiver
...
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
2017-03-13 11:31:51 +11:00
b7c4945000
AP_NavEKF2: Fix bug preventing reset to GPS
...
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
2017-03-06 17:11:39 +11:00
563be389ee
AP_NavEKF2: only use downward facing rangefinder
2017-02-27 15:18:10 +09:00
8b69f1708e
NavEKF2: Add optional check for GPS vertical accuracy before aligning the EKF
2017-02-22 11:53:42 -08:00
e7a34b0fb3
AP_NavEKF2: Add set_baro_alt_noise method
2017-02-21 11:26:14 +11:00
1a7b5538e5
AP_NavEKF2: Enable simple heading fusion to be set for specific cores
2017-02-15 19:17:53 +00:00
a1d41edc4e
AP_NavEKF2: Use the same mag fusion method for all cores
...
The original reason for using a different method for the second core is no longer valid.
2017-02-15 19:01:10 +00:00
5cd403c0b9
AP_NavEKF2: prevent NaN if RNGFND_GNDCLEAR is zero
2017-02-15 07:04:38 +09:00
a63eac8073
AP_NavEKF2: Add missing perf_end
2017-01-27 16:57:42 +09:00
7ea37029b6
AP_NavEKF2: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
715d094678
AP_NavEKF2: Correct display names, bitmask and units
2017-01-16 19:07:26 +00:00
c6875e1756
AP_NavEKF2: remove editor information wrongly added in d408d25
2017-01-09 16:16:14 +00:00
9389ec2274
AP_NavEKF2: fix parameter descriptions
2017-01-09 13:30:30 +09:00
d408d25f92
More spelling stuff
2017-01-06 10:57:39 -08:00
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
653030b038
AP_NavEKF2: Changed if statements to switch statement.
...
AP_NavEKF2: Change indentation.
2016-12-26 10:15:55 +09:00
6dc7d25fde
AP_NavEKF2: Fix bug in loss of aiding fallback
...
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
2016-12-21 18:08:39 +11:00
fe69d9a0ea
AP_NavEKF2: remove duplicate include
2016-12-18 10:28:04 +11:00
a8f3a374e2
AP_NavEKF2: replace sqrt function calls with sqrtf
...
Prevents compiler errors and un-wanted use of double precision types
2016-12-18 10:28:04 +11:00
76106889d5
AP_NavEKF2: Prevent unwanted core switch on startup
...
Require primary core to be healthy for 10 seconds before starting selection logic
2016-12-13 01:18:28 +00:00
69f3c83c20
AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid
...
Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
2016-12-09 21:17:28 +00:00
14a0155f5e
AP_NavEKF2: Allow threshold speed for range finder use to be adjusted
2016-12-09 21:17:28 +00:00
25e47cce6b
AP_NavEKF2: Changed sqrt method to sqrtf method.
...
AP_NavEKF2: Changed sqrt method to sqrtf method.
2016-12-07 15:41:41 +00:00
fc5f4c20cd
AP_NavEKF2: remove redundant check of beacon nullptr
...
thanks to muramura for spotting this
2016-12-01 14:53:26 +09:00
665ba1c009
AP_NavEKF2: Fix bug in reporting of vertical position reset
...
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
2016-12-01 10:35:38 +09:00
7f347e39dd
AP_NavEKF2: Fix bug in reporting of horizontal position reset
...
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
2016-12-01 10:35:38 +09:00
656d9bb2c4
AP_NavEKF2: Fix bug in reporting of yaw reset
...
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
2016-12-01 10:35:38 +09:00
66a9093cd0
AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data
2016-11-30 17:56:51 +09:00
0ec8f0932a
AP_NavEKF2: Prevent output of NaN's in range beacon debug output
...
This can happen if this accessor function is called before the EKF states are initialised
2016-11-30 17:56:50 +09:00
fbecda7eeb
AP_NavEKF2: change order of variable initialisation
...
No functional change, this modifies the init order to match the declaration order.
2016-11-30 17:56:49 +09:00
82854953e7
AP_NavEKF2: minor comment fix
2016-11-30 17:56:48 +09:00
14a73e499a
AP_NavEKF2: initialise two range beacon structures
2016-11-30 17:56:47 +09:00
2ee8250807
AP_NavEKF2: Changes from code review by @muramura
2016-11-30 17:56:46 +09:00
1f4606e48a
AP_NavEKF2: protect against null beacon
2016-11-30 17:56:45 +09:00
51ccfca31c
AP_NavEKF2: fix format of statustext for beacon init
2016-11-30 17:56:44 +09:00
ef03a85cd3
AP_NavEKF2: add range beacon interface and fusion method
2016-11-30 17:56:43 +09:00
0a177d04fd
AP_NavEKF2: Simply core switch implementation
...
Functionally equivalent
2016-11-24 19:58:10 +09:00
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
2016-11-24 19:58:07 +09:00
e9ea06bd10
AP_NavEKF2: minor comment fix
2016-11-24 19:58:03 +09:00
0df45703f1
AP_NavEKF2: Fix errors in position reset delta publishing
2016-11-24 19:57:47 +09:00
f6021c959d
AP_NavEKF2: capture and publish vertical position reset deltas
...
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
2016-11-24 19:57:45 +09:00
e62863f9a1
AP_NavEKF2: Reduce unnecessary EKF core switching
...
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
2016-11-24 19:57:41 +09:00
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
82365f8670
AP_NavEKF2: save some memory in the position offsets in EKF2
...
we don't need to copy that vector3f for every sample. A uint8_t does
the job
2016-10-27 17:09:06 +11:00
c93c3d54f3
AP_NavEKF2: Don't correct for zero IMU position offset
...
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
2016-10-27 14:54:44 +11:00
1890bbdafa
AP_NavEKF2: Don't correct GPS for zero position offset
2016-10-27 14:54:44 +11:00
f025c96e63
AP_NavEKF2: Don't correct range finder for zero position offset
2016-10-27 14:54:43 +11:00
9a0ce1d5eb
AP_NavEKF2: Don't correct flow sensor for zero position offset
2016-10-27 14:54:43 +11:00
b40016db62
AP_NavEKF2: Fix documentation errors
2016-10-27 14:54:43 +11:00
13ca62b1c7
AP_NavEKF2: Correct velocity and position outputs for IMU offset
...
This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
2016-10-27 14:54:43 +11:00
21dcf42c27
AP_NavEKF2: Add missing documentation
2016-10-27 14:54:43 +11:00
8922861359
AP_NavEKF2: Correct optical flow data for sensor position offset
...
Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
2016-10-27 14:54:43 +11:00
16f021c466
AP_NavEKF2: Correct range finder data for body frame position offset
2016-10-27 14:54:43 +11:00
e884e9cc6e
AP_NavEKF2: Correct GPS data for antenna body frame offset
2016-10-27 14:54:43 +11:00
064a106808
AP_NavEKF2: Get IMU accelerometer body position offset data
2016-10-27 14:54:42 +11:00
397033b7c3
AP_NavEKF2: Add flow sensor body position offset to data buffer
2016-10-27 14:54:42 +11:00
92c086b40e
AP_NavEKF2: Add rangefinder body position offset to data buffer
2016-10-27 14:54:42 +11:00
3148ad4623
AP_NavEKF2: Add GPS antenna position offset data to data buffer
2016-10-27 14:54:42 +11:00
fd905c23e1
AP_NavEKF2: Add body position offset to optical flow interface
2016-10-27 14:54:42 +11:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
9779511425
AP_NavEKF2: Fix bug in median filter code
2016-10-19 19:45:00 +09:00
dac59cb5da
AP_NavEKF2: use exact matrix for trim rotation
2016-10-13 10:02:14 +11:00
5d09c78f34
AP_NavEKF2: Always perform optical flow takeoff check when receiving data
...
A specialised takeoff check is now always performed when we receive new flow data as the default behaviour is to try and use flow data whenever it is received, rather than limit its use to a use to a flow-only mode of operation that had to be selected via user parameter.
2016-10-10 14:49:48 +09:00
a75a383ef2
AP_NavEKF2: Update protection for out of focus flow data
2016-10-10 14:49:41 +09:00
635826c056
AP_NavEKF2: Fix reporting of terrain estimator innovations
...
Terrain height is relevant whenever optical flow data is present
2016-10-10 14:49:35 +09:00
b0072b587c
AP_NavEKF2: fix reporting of optical flow use status
2016-10-10 14:49:24 +09:00
ed9ecb28fb
AP_NavEKF2: Enable entry into relative position mode on start-up
2016-10-10 14:49:21 +09:00
e0b8c54194
AP_NavEKF: Update GPS type parameter description
2016-10-10 14:49:18 +09:00
f9018fcc1b
AP_NavEKF2: Enable simultaneous optical flow and GPS use
...
Enables simultaneous use of GPS and optical flow data with automatic fallback to relative position mode if GPS is lost and automatic switch-up to absolute position status if GPS gained/re-gained.
2016-10-10 14:49:02 +09:00
ab55991b33
AP_NavEKF2: Report position jumps due to lane switches
...
Also moves code required to update reset data due to lane switches into separate functionscto improve readability.
2016-10-10 11:56:14 +09:00
42cd8e9721
AP_NavEKF2: Handle yaw jumps due to core switches
...
Based on work from Paul Riseborough (priseborough)
2016-09-25 18:24:11 -07:00
8da22e441b
Revert 3 commits about yaw reset core switch
...
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e4177fad065d1885bfd1b4e
2016-09-25 18:24:11 -07:00
2ebb81b02f
AP_NavEKF2: switching compass message to GCS downgraded to INFO
2016-09-21 21:42:44 +09:00
b6867e085d
AP_NavEKF2: Don't report range finder variance on mavlink if not required
2016-09-21 10:41:21 +09:00
cb1d3c7ed2
AP_NavEKF2: Allow for terrain gradient when using range finder for height
2016-09-13 17:45:03 +09:00
60d8adcca0
AP_NavEKF2: Fix height drift on ground using range finder without GPS
2016-09-13 17:44:59 +09:00
8797714203
AP_NavEKF2: Fix bug in handling of invalid range finder data
2016-09-13 17:44:43 +09:00
175faf1e41
AP_NavEKF2: Fix bug in published yaw reset value found during code review
2016-09-13 17:35:18 +09:00
77fad065d1
AP_NavEKF2: use a struct for all yaw step class variables
2016-09-13 17:35:16 +09:00
885bfd1b4e
AP_NavEKF2: Handle yaw jumps due to core switches
2016-09-13 17:35:14 +09:00
dd812cfc0c
AP_NavEKF2: added getPrimaryCoreIMUIndex()
...
needed for correct AHRS gyro estimate
2016-09-05 12:53:53 +10:00
e6f36f04db
AP_NavEKF2: Enable automatic use of range finder height
...
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.
When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,
If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
2016-08-08 10:56:44 +09:00
d1ecc63bf1
AP_NavEKF2: change priority of statustext messages
2016-07-29 13:19:51 +09:00
567d5cdbe6
AP_NavEKF2: use mavlink messages not printf for state change notifications
2016-07-19 12:16:51 +10:00
bd7bf21475
AP_NavEKF2: Speed improve switch-over to backup magnetometer
...
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. other wise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.
2016-07-19 12:16:50 +10:00
e34cdc6666
AP_NavEKF2: Fix bug preventing planes recovering from bad magnetometers
...
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.
2016-07-19 12:16:50 +10:00
e2b8807260
AP_NavEKF2: Fix bug causing switching in and out of aiding
...
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.
2016-07-19 12:16:50 +10:00
fcc07b5560
AP_NavEKF2: Prevent multiple aiding mode changes per update
2016-07-19 12:16:50 +10:00
f4f347fb75
AP_NavEKF2: add missing parenthesis and console message
2016-07-19 12:16:50 +10:00
9a23152ee4
AP_NavEKF2: Fix bugs and consolidate aiding switch logic
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Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.
2016-07-19 12:16:50 +10:00
230ba2700f
AP_NavEKF2: fix documentation errors
2016-07-19 12:16:50 +10:00
341d070db8
AP_NavEKF2: Separate filter status update and get functions
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The filter status logic calculations were being repeated every time the get function was called.
The logic is now updated once per filter update step and a separate get function added
2016-07-19 12:16:49 +10:00
b1717649b1
AP_NavEKF2: remove combined NED local position interface
2016-07-19 12:16:49 +10:00
e374ec634d
AP_NavEKF2: Add separate horizontal/vertical local position interfaces
2016-07-19 12:16:49 +10:00
Andrew Tridgell
Peter Barker
priseborough
bugobliterator
Pierre Kancir
Samuel Tabor
Lucas De Marchi
Michael du Breuil
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas
Jonathan Challinger
Jacob Walser
Francisco Ferreira
murata
Mathieu OTHACEHE