Ardupilot2/libraries
priseborough 39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
2016-12-19 08:06:47 +11:00
..
AC_AttitudeControl AC_PosControl: remove unnecessary parentheses 2016-12-05 10:59:45 -08:00
AC_Avoidance AC_Avoidance: adjust_velocity_polygon accepts body-frame points 2016-11-27 15:05:42 +09:00
AC_Fence AC_Fence: shorten calculation of return value 2016-12-15 10:42:48 +09:00
AC_InputManager Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AC_PID Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AC_PrecLand AC_PrecLand: use new in-tree IRLock driver 2016-11-28 08:26:58 +11:00
AC_Sprayer AC_Sprayer: disentangle ENABLED from permission-to-run 2016-10-29 15:02:52 +09:00
AC_WPNav AC_WPNav: remove ekf position reset handler 2016-11-24 19:58:00 +09:00
AP_AccelCal AP_AccelCal: fix bug preventing accel cal fit to run more than one iteration 2016-11-18 20:03:30 -02:00
AP_ADC AP_ADC: fix ADS1115 instantiation 2016-11-19 14:05:22 -02:00
AP_ADSB AP_ADSB: Set in the sprintf method. 2016-11-01 08:36:52 -07:00
AP_AdvancedFailsafe Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_AHRS AP_AHRS: added EKF3 for EKF experimentation 2016-12-18 10:28:04 +11:00
AP_Airspeed AP_Airspeed: updated comment to match PR 2016-12-05 17:19:57 -08:00
AP_Arming AP_Arming: Do not set check results each time. 2016-12-03 20:39:33 +00:00
AP_Avoidance Global: To nullptr from NULL. 2016-11-02 16:04:47 -02:00
AP_Baro AP_Baro: moved MS5611 reset before prom read 2016-12-13 11:10:35 +11:00
AP_BattMonitor AP_BattMonitor: add default PM definitions for Navio boards 2016-12-01 05:41:37 -08:00
AP_Beacon AP_Beacon: fix SITL param error 2016-12-18 10:28:04 +11:00
AP_BoardConfig AP_BoardConfig: increase uavcan bus settle time to 2s 2016-11-29 12:51:16 +11:00
AP_Buffer Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Button Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Camera Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Common Remove stdbool.h include for C++ sources 2016-12-16 11:38:52 -08:00
AP_Compass AP_Compass: switched to unified Invensese driver for AK8963 2016-12-16 12:31:34 +11:00
AP_Declination Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_FlashStorage AP_FlashStorage: added erase_ok callback 2016-12-02 09:49:40 +11:00
AP_Frsky_Telem AP_FrSky_Telem: fixed sign of vertical velocity (+ve up) 2016-12-04 15:05:16 -08:00
AP_GPS GPS: MAV driver fix for sanity checks of cog, sat count 2016-12-08 15:52:26 +09:00
AP_Gripper AP_Gripper: a valid() method 2016-12-02 12:52:53 +11:00
AP_HAL Remove stdbool.h include for C++ sources 2016-12-16 11:38:52 -08:00
AP_HAL_AVR AP_HAL_AVR: remove examples 2016-05-23 21:49:45 -03:00
AP_HAL_Empty Global: To nullptr from NULL. 2016-11-02 16:04:47 -02:00
AP_HAL_FLYMAPLE AP_HAL_FLYMAPLE: remove hal 2016-05-23 21:49:45 -03:00
AP_HAL_Linux Remove stdbool.h include for C++ sources 2016-12-16 11:38:52 -08:00
AP_HAL_PX4 Revert "HAL_PX4: Add input parameter check." 2016-12-07 12:47:10 +11:00
AP_HAL_QURT Remove stdbool.h include for C++ sources 2016-12-16 11:38:52 -08:00
AP_HAL_SITL SITL: Scheduler correct misplaced parenthese && switch to do while loop 2016-12-04 18:28:14 +00:00
AP_HAL_VRBRAIN Global: To nullptr from NULL. 2016-11-02 16:04:47 -02:00
AP_ICEngine Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_InertialNav Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_InertialSensor AP_InertialSensor: unify MPU6000 and MPU9250 drivers 2016-12-16 12:31:34 +11:00
AP_IRLock AP_IRLock: fixed build 2016-12-05 16:51:49 -08:00
AP_L1_Control AP_L1_Control: add missing parameter metadata 2016-10-27 09:15:03 -07:00
AP_Landing AP_Landing: add is_complete() accessor 2016-12-14 04:32:30 -08:00
AP_LandingGear Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Math AP_Math: Vector2 add == operator for int 2016-12-06 09:31:21 -08:00
AP_Menu Global: To nullptr from NULL. 2016-11-02 16:04:47 -02:00
AP_Mission AP_Mission: Align with spec better 2016-12-05 17:31:36 -08:00
AP_Module Global: To nullptr from NULL. 2016-11-02 16:04:47 -02:00
AP_Motors MotorsHeli: minor formatting updates 2016-12-14 13:21:59 +09:00
AP_Mount AP_Mount: allow computation of gps point target in earth fixed frame 2016-12-01 18:42:48 +09:00
AP_NavEKF AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
AP_NavEKF2 AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
AP_NavEKF3 AP_NavEKF3: added EKF3 for EKF experimentation 2016-12-19 08:06:47 +11:00
AP_Navigation Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Notify AP_Notify: fixed threading on toshibaled i2c 2016-11-09 17:08:02 +11:00
AP_OpticalFlow AP_OpticalFlow: fixed build 2016-12-05 16:51:49 -08:00
AP_Parachute Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Param AP_Param: apply notify check to AP_ParamV too 2016-12-09 14:36:01 -08:00
AP_Proximity AP_Proximity: set minimum boundary distance 2016-11-27 15:05:48 +09:00
AP_Rally Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_RangeFinder RangeFinder: fix to suppressing comment for case fall through 2016-12-14 13:22:31 +09:00
AP_RCMapper Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Relay Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_RPM AP_RPM: make pwm_input driver start on demand 2016-11-11 15:49:53 +11:00
AP_RSSI Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Scheduler Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_SerialManager SerialManager: add beacon to list of protocols 2016-11-30 17:56:35 +09:00
AP_ServoRelayEvents Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_SpdHgtControl Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Stats AP_Stats: fix variable reset time bug 2016-11-16 09:14:01 +09:00
AP_TECS AP_TECS: fixed compiler warning 2016-12-05 16:46:55 -08:00
AP_Terrain AP_Terrain: add O_CLOEXEC in places missing it 2016-11-07 12:37:30 -03:00
AP_Tuning Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
AP_Vehicle AP_Vehicle: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
APM_Control APM_Control: add missing parameter metadata 2016-10-27 09:15:03 -07:00
DataFlash DataFlash: fix Baro 3 labels 2016-12-18 10:28:04 +11:00
doc doc: Fix typos 2016-05-13 19:20:06 -03:00
Filter Filter: added new constructor for 1p filter 2016-11-25 17:49:57 +11:00
GCS_Console Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
GCS_MAVLink GCS_MAVLink: fixed build 2016-12-05 16:51:49 -08:00
PID Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
RC_Channel RC_Channel: add method to get current radio out for a function 2016-12-02 12:04:05 +11:00
SITL SITL: remove duplicate 2016-12-05 10:59:45 -08:00
StorageManager Global: remove mode line from headers 2016-10-24 09:42:01 -02:00