Paul Riseborough 4fb7beba4b AP_NAvEKF: Prevent failure due to magnetometer fusion numerical errors ... If a badly conditioned covariance matrix causes negative innovation variances, then the filter will diverge. The previous approach of increasing process noise was not effective in some cases, so a hard reset of the covariance matrix has been adopted to guarantee recovery. This fixes a numerical error observed using the replay on flight log which had significant periods of compass rejection.		2015-07-02 18:07:22 +10:00
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Models	AP_NavEKF: rename file to remove spaces	2015-05-23 17:14:52 +10:00
AP_NavEKF.cpp	AP_NAvEKF: Prevent failure due to magnetometer fusion numerical errors	2015-07-02 18:07:22 +10:00
AP_NavEKF.h	AP_NavEKF: added vehicle specific initial gyro bias uncertainty	2015-06-30 16:16:26 +10:00
AP_Nav_Common.h	AP_NavEKF: added using_gps status bit	2015-05-17 21:24:57 +10:00
AP_SmallEKF.cpp	AP_NavEKF: fixed build warnings	2015-05-30 22:51:30 +10:00
AP_SmallEKF.h	AP_SmallEKF: add function to report if the EKF is stable	2015-04-21 21:45:29 +09:00