If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
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.
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.
This commit includes an example program to
run the code of AP_Marvelmind class.
It also includes a dump from the marvelmind
serial as well as a script that injects
this dump into the example for demonstration.
Reworked the process flow. Created the aviation vs rover themes.
Created visual operator feedback for prearm checks, GPS, EKF, gyro init,
radio failsafe, and low battery. This also includes work by Hugh Eaves
to open up the full extended properties of the Oreo LEDs. Not only are
far more functions available, but you can override and do custom things
via mavlink.
Jaime did the hard work on this one. He reworked notify device
selection to take place on init rather than on compile like before. The
notify decivces are mostly set on compile using preprocessor directives
based on board type. I created NTF_OREO_THEME. This will allow the
user to enable/disable the OreoLED driver. And it also allows you to
select between aircraft and rover lighting themes. This allows the Solo
to use the OreoLEDs, and doesn't waste the memory on vehicles not
equipped with Oreo LEDs. The OreoLED driver is restricted to Pixhawk 2
FCs by proprocessor directive due to memory constraints. So it will
never work by accident on another board.
There is also a new notify flag for GPS Fusion. This flag is true when
the EKF is happy with the GPS, actively using it for position
information.
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
Evaluated solo specific tones file vs standard px4 tones files. The
only thing the Solo had that standard ArduPilot does not have is the GPS
unplugged tone and the power off tone.
* Some tones have a different tune, which is fine. We want the Solo to
sound like ArduPilot if it is running ArduPilot.
* GPS unplugged tone abandoned. Determined to be unnecessary.
* Power off tone merged into standard px4 tones file. Smart battery
signalling a power off will make use of this tone. Has application for
any smart battery equipped vehicle, not just Solo.
* Removed all references and dependencies to `ToneAlarm_PX4_Solo.cpp`
and `ToneAlarm_PX4_Solo.h`
* Deleted `ToneAlarm_PX4_Solo.cpp` and `ToneAlarm_PX4_Solo.h` since
they're no longer needed.
