mirror of https://github.com/ArduPilot/ardupilot
1ecc206eee
Implements the following techniques to enable planes to operate without magnetometers. 1) When on ground with mag use inhibited, a synthetic heading equal to current heading is fused to prevent uncontrolled covariance growth. 2) When transitioning to in-flight, the delta between inertial and GPS velocity vector is used to align the yaw. 3) The yaw gyro bias state variance is reset following an in-flight heading reset to enable the yaw gyro bias to be learned faster. |
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| .. | ||
| AP_NavEKF2.cpp | ||
| AP_NavEKF2.h | ||
| AP_NavEKF2_AirDataFusion.cpp | ||
| AP_NavEKF2_Buffer.h | ||
| AP_NavEKF2_Control.cpp | ||
| AP_NavEKF2_MagFusion.cpp | ||
| AP_NavEKF2_Measurements.cpp | ||
| AP_NavEKF2_OptFlowFusion.cpp | ||
| AP_NavEKF2_Outputs.cpp | ||
| AP_NavEKF2_PosVelFusion.cpp | ||
| AP_NavEKF2_VehicleStatus.cpp | ||
| AP_NavEKF2_core.cpp | ||
| AP_NavEKF2_core.h | ||
| AP_NavEKF_GyroBias.cpp | ||