Paul Riseborough
52fd369b2f
AP_NavEKF2: Add methods to output and calculate vertical position derivative
...
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
2015-10-20 15:21:35 +11:00
Paul Riseborough
e3013b493b
AP_NavEKF2: Critical bug fix - perf counter not initialised
2015-10-15 09:48:13 +11:00
Paul Riseborough
20a3f9782e
AP_NavEKF2: Add full set of selectable pre-flight GPS checks
2015-10-10 21:22:53 +09:00
Paul Riseborough
db4dfce7b1
AP_NavEKF2: Add fix status to GPS check report message
2015-10-10 14:49:07 +09:00
Paul Riseborough
22920aafad
AP_NavEKF2: Improve GPS status reporting
2015-10-10 14:48:59 +09:00
Paul Riseborough
f467a89fa3
AP_NavEKF2: Update comments for filter status output function
2015-10-10 14:48:52 +09:00
Paul Riseborough
cde140354a
AP_NavEKF2: Clean up control logic
2015-10-05 13:35:32 +09:00
Paul Riseborough
f4db78fc11
AP_NavEKF2: Allow for larger gyro bias errors
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MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
2015-10-05 13:35:29 +09:00
Paul Riseborough
325f4139fe
AP_NavEKF2: Clean up mode change logic
2015-10-05 13:35:26 +09:00
Paul Riseborough
2fb72b6e6a
AP_NavEKF2: Clean up loss of GPS logic
2015-09-25 19:20:52 +10:00
Paul Riseborough
1986af021f
AP_NavEKF2: Remove un-used flight mode and duplicate variable
2015-09-25 19:20:52 +10:00
Paul Riseborough
8bcedb228b
AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1
2015-09-25 19:20:52 +10:00
Randy Mackay
015f700bc0
AP_NavEKF2: getLastYawResetAngle returns last reset time
2015-09-24 16:57:38 +09:00
Paul Riseborough
80e182f827
AP_NavEKF2: Update EKF2 data logging
2015-09-24 12:58:44 +10:00
Paul Riseborough
9c5e48e7e9
AP_NavEKF2: Remove unused variables and improve variable names
2015-09-24 12:58:43 +10:00
Paul Riseborough
8afb26087d
AP_NavEKF2: Remove unused function
2015-09-24 12:58:43 +10:00
Paul Riseborough
f270573acc
AP_NavEKF2: Use library functions for quaternion corrections
2015-09-23 17:48:48 +10:00
Andrew Tridgell
cbc62238a9
AP_NavEKF2: run astyle for reformatting
2015-09-23 17:29:28 +10:00
Andrew Tridgell
b4555f30a5
AP_NavEKF2: added frontend calls to core code
2015-09-23 11:56:42 +10:00
Paul Riseborough
f500474a86
AP_NavEKF2: initial import of new maths EKF
2015-09-23 09:51:14 +10:00
