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44,445 Commits 71 Branches 509 Tags 772 MiB
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678 Commits

Author SHA1 Message Date
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
Peter Barker 051a7dc298 AP_NavEKF: add onboard LogMessage documentation 2020-03-27 08:05:53 +11:00
Peter Hall 9ec5355dfc AP_NavEKF: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
Peter Barker 0da27417bc AP_NavEKF: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell f79907bd1e AP_NavEKF: fixed build with vector index checking 2019-10-01 15:39:03 +10:00
Andrew Tridgell 688b01c6c6 AP_NavEKF: added a common parent class for EKF2 and EKF3 core classes 
this provides a common location for static intermediate variables in
EK2 and EK3. This has a few benefits:

 - the compiler can determine the address of the frequently accessed
   variables at compile time, making them faster

 - by sharing between EK2 and EK3 we save a lot of memory if both EK2
   and EK3 are enabled

 - we can fill all these with NaN in SITL on every loop, which allows
   us to catch cases where the variables are ever re-used between
   loops, which guarantees we aren't mixing data between EKF lanes or
   between EK2 and EK3
 2019-10-01 15:39:03 +10:00
Peter Barker 9e0f525f69 AP_NavEKF: move logging in from AP_Logger 2019-09-03 09:28:37 +10:00
Andrew Tridgell 103d1aea41 AP_NavEKF: added gps_quality_good EKF flag 2018-07-14 17:49:52 +10:00
Michael du Breuil ac9d5f8a5c AP_NavEKF: Make the status unions use bool, add static asserts 2018-04-11 09:47:43 +09:00
priseborough 6a91b294b4 AP_NavEKF: Clarify definition for gps_glitching flag 2018-03-27 20:28:54 +09:00
priseborough 7d777485d8 AP_NavEKF: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
Andrew Tridgell ae3df89d17 AP_NavEKF: added ekf_timing structure 2017-04-28 17:19:39 +10:00
Michael du Breuil 61023fc636 NavEKF: Add GPS vertical accuracy to nav_gps_flags 2017-02-22 11:53:42 -08:00
priseborough bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
Pierre Kancir f54cf6e097 AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
murata de153ce1d7 AP_NavEKF: Correct the setting process of variable dAngBiasSigma. 2016-11-24 03:24:18 +00:00
murata ec42ddfb4e AP_NavEKF: style changes (tab to spaces, etc.) 
AP_NavEKF: style changes (tab to spaces, etc.)

AP_NavEKF: style changes (tab to spaces, etc.)
 2016-11-24 03:24:18 +00:00
Andrew Tridgell a05d216ce4 AP_NavEKF: make posOffset const ref for optflow 2016-10-27 15:45:40 +11:00
priseborough b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough 8160eca47e AP_NavEKF: update flow sensor interface 
Adds a position offset which is not used by the backend
 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE 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
priseborough d0ba259d0d AP_NavEKF: Fix bug in median filter code 2016-10-19 19:44:58 +09:00
Jonathan Challinger 3eba985afd AP_NavEKF: use exact matrix for trim rotation 2016-10-13 10:02:13 +11:00
Tom Pittenger e63e7a5336 AP_NavEKF: comment that param "Enable" index is moved to top 2016-08-04 11:32:46 -07:00
priseborough b3bfb71431 AP_NavEKF: fix documentation errors 2016-07-19 12:16:50 +10:00
priseborough 487bbc3ed2 AP_NavEKF: Fix reporting of position status 
Split publishing of local position into horiz and vert components with separate validity checks
Split status reporting into separate update and get functions and only update once after each loop update. This removes unnecessary re-calculation of the status logic and ensures all consumers get the same data (avoid possible race conditions).
 2016-07-19 12:16:48 +10:00
Paul Riseborough d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00
Paul Riseborough d59d8cc6e3 AP_NavEKF: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Ricardo de Almeida Gonzaga 267a74ebb2 AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Jonathan Challinger 6938e3d57b AP_NavEKF: check mag instance id when returning mag offsets 2016-04-21 09:51:41 +10:00
Lucas De Marchi bb0d96cedd AP_NavEKF: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Peter Barker 11760c33f6 AP_NavEKF: avoid use of undefined #defines 
Ensure EKF_DISABLE_INTERRUPTS is defined

Do not define MATH_CHECK_INDEXES, assume it is defined
 2016-02-19 12:34:24 -02:00
Paul Riseborough 1950008248 AP_NavEKF: Send correct data over mavlink status message 2016-02-01 10:02:20 +09:00
Jonathan Challinger eabede692e AP_SmallEKF: move to AP_Mount/SoloGimbalEKF and merge solo version 2016-01-23 10:35:38 +09:00
Andrew Tridgell a6c39dee84 AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory 2016-01-07 08:33:33 +11:00
Andrew Tridgell a0a4b698f6 AP_NavEKF: disable EKF1 by default 
use EKF2 instead
 2016-01-05 16:41:48 +11:00
Andrew Tridgell 0ef61b1637 AP_NavEKF: moved ENABLE param to front of list 
and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
 2016-01-04 11:14:43 +11:00
Andrew Tridgell 28a684ea03 AP_NavEKF: use get_loop_delta_t() from INS 2015-12-27 14:57:14 +09:00
Andrew Tridgell a042845da8 AP_NavEKF: avoid an optimiser bug in clang 2015-12-27 16:21:26 +11:00
Don Gagne 34d5dd0257 AP_NavEKF: fix invalid Range meta data 2015-12-27 16:10:44 +11:00