aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
925c5751bd
Ardupilot2/libraries
History
priseborough 925c5751bd AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding 
This will enable in-flight magnetometer calibration to be inhibited unconditionally,
This is required for long balloon carriage flights where ground speed can be high
enough to put it into in-air state, but with very poor observability of magnetic field
states causing bad state estimates and heading offsets to develop over time.

The covariance matrix no longer has rows and columns artificially zeroed when in static
mode. Instead booleans indicating whether wind or magentic field state estimation is
active are used to:

a) Set the process noise on these states to zero to stop their variances from increasing
unchecked when not being updated, and
b) Turn off updates for these states when measurement fusion is being performed.

This reduces the likelihood of a badly conditioned covariance matrix forming
during static mode operation.

A filter divergence check has also been added that will declare the filter unhealthy if
position, velocity and magnetic field observations are all failing their innovation
consistency checks. This unhealthy status will persist for 10 seconds after the
condition clears.

AP_NavEKF: Remove unnecessary zeroing of wind covariances
2014-05-11 18:00:38 +10:00
..
AC_AttitudeControl AC_PosControl: remove reset_I_xy 2014-05-08 16:15:48 +09:00
AC_Fence AC_Fence: add 10sec manual recovery 2014-04-27 11:11:07 +09:00
AC_PID AC_PID: fixup line endings 2014-04-15 15:55:59 +09:00
AC_Sprayer AC_Sprayer: fix example sketch 2014-05-08 16:25:11 +09:00
AC_WPNav AC_WPNav: fix example sketch 2014-05-08 16:25:13 +09:00
AP_ADC AP_ADC: fixup line endings 2014-04-15 15:56:13 +09:00
AP_ADC_AnalogSource AP_ADC_AnalogSource: fixed APM1 build 2013-09-12 13:28:11 +10:00
AP_AHRS AP_AHRS: added vehicle class to AHRS 2014-04-21 18:13:12 +10:00
AP_Airspeed AP_Airspeed: fixup line endings 2014-04-15 15:56:26 +09:00
AP_Arming AP_Arming: convert to new GPS API 2014-04-01 06:38:24 +11:00
AP_Baro AP_Baro: expose get_altitude_difference() 2014-04-11 16:34:02 +10:00
AP_BattMonitor BattMon: fixup line endings 2014-04-15 15:56:43 +09:00
AP_BoardConfig AP_BoardConfig: restore /dev/vroutput change from Emile 2014-04-08 21:05:41 +10:00
AP_Buffer AP_Buffer: remove header/source separation to allow arbitrary template 2013-10-27 13:41:43 +09:00
AP_Camera AP_Camera: updates for relay API change 2014-01-20 17:06:29 +11:00
AP_Common Common: remove RallyLocation defintion 2014-04-19 15:00:28 +09:00
AP_Compass Compass: fixup line endings 2014-04-15 15:56:57 +09:00
AP_Curve AP_Curve: remove virtual from method declarations 2014-02-10 17:28:11 +09:00
AP_Declination libraries: update license header to GPLv3 2013-08-30 13:01:39 +10:00
AP_EPM AP_EPM: added #defines for VRBRAIN board 2014-04-08 16:19:20 +10:00
AP_GPS AP_GPS: Fix bug that causes permanent lag if we miss a message 2014-04-29 15:35:46 +10:00
AP_HAL AP_HAL: prevent some FastDelegate warnings 2014-05-08 11:11:03 +10:00
AP_HAL_AVR AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 2014-03-25 14:39:41 +11:00
AP_HAL_AVR_SITL SITL: cope with more rubbish startup values from JSBSim 2014-05-04 17:30:10 +10:00
AP_HAL_Empty AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 2014-03-25 14:39:41 +11:00
AP_HAL_FLYMAPLE AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 2014-03-25 14:39:41 +11:00
AP_HAL_Linux AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 2014-03-25 14:39:41 +11:00
AP_HAL_PX4 HAL_PX4: read from FRAM in 128 byte chunks (2nd try) 2014-05-02 22:12:45 +10:00
AP_HAL_VRBRAIN VRBRAIN: corrected ADC pins for volt and current sensing. 2014-04-08 16:19:20 +10:00
AP_InertialNav AP_InertialNav: fix pos error degradation rate 2014-05-08 23:09:39 +09:00
AP_InertialSensor AP_InertialSensor: new files and definitions for VRBRAIN board 2014-04-08 16:19:19 +10:00
AP_L1_Control AP_L1_Control: no need to project position for lag 2014-02-15 05:29:47 +11:00
AP_Limits AP_Limits: fix for new AP_Math API 2013-08-05 10:23:57 +10:00
AP_Math AP_Math: prevent a floating point exception 2014-04-21 15:37:08 +10:00
AP_Menu AP_Menu: fixed double display of prompt 2013-11-06 10:49:47 +11:00
AP_Mission Mission: rename AUTORESET to RESTART 2014-05-09 11:31:37 +09:00
AP_Motors AP_Motors: fix example sketch 2014-04-29 20:46:34 +09:00
AP_Mount AP_Mount: convert to new GPS API 2014-04-01 06:38:24 +11:00
AP_NavEKF AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding 2014-05-11 18:00:38 +10:00
AP_Navigation AP_L1_Control: added lateral acceleration interface 2013-08-12 13:38:38 +10:00
AP_Notify Notify: fixup line endings 2014-04-15 15:57:11 +09:00
AP_OpticalFlow OptFlow: fixup line endings 2014-04-15 15:57:33 +09:00
AP_Parachute Parachute: clear release time when enabled 2014-04-24 19:22:11 +09:00
AP_Param AP_Param: fixup line endings 2014-04-15 15:57:47 +09:00
AP_PerfMon Perfmon: fixes to work with HAL 2013-10-13 11:02:49 +09:00
AP_Progmem AP_Progmem: only AVR uses progmem 2013-09-28 21:24:02 +10:00
AP_Rally AP_Rally: fixed indentation 2014-05-08 11:01:52 +10:00
AP_RangeFinder Maxsonar Test: remove raw from output to user 2014-02-10 15:00:08 +09:00
AP_RCMapper AP_RCMapper: improved docs for RCMAP_* 2013-06-03 16:28:05 +10:00
AP_Relay AP_Relay: added #defines for VRBRAIN board 2014-04-08 16:19:19 +10:00
AP_Scheduler AP_Scheduler: fixed SCHED_DEBUG docs 2013-10-13 21:41:01 +11:00
AP_ServoRelayEvents AP_ServoRelayEvents: fixed disabling repeated events on set_servo() 2014-02-06 10:03:26 +11:00
AP_SpdHgtControl AP_SpdHgtControl: added get_target_airspeed() interface 2014-03-20 17:34:29 +11:00
AP_TECS AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight. 2014-04-10 15:42:49 +10:00
AP_Vehicle AP_Vehicle: added autotune_level to fixed wing parms 2014-04-13 22:11:28 +10:00
APM_Control APM_Control: added logging of parameter changes in AUTOTUNE 2014-04-30 22:22:13 +10:00
APM_OBC APM_OBC: setup termination values in PX4IO 2014-04-21 11:52:53 +10:00
APM_PI APM_PI: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
DataFlash DataFlash: added LOG_ATRP_MSG define 2014-04-30 21:22:28 +10:00
doc Checking these in makes the libraries too bulky. We need to host them somewhere. 2011-01-04 06:22:02 +00:00
Filter LowPassFilter: make methods non-virtual 2014-02-10 20:47:05 +09:00
GCS_Console GCS_Console: fixed example build 2014-03-19 12:13:55 +09:00
GCS_MAVLink GCS_MAVLink: generate after adding DO_MOTOR_TEST 2014-04-29 11:23:07 +09:00
PID PID: fixup line endings 2014-04-15 15:57:56 +09:00
RC_Channel RC_Channel: added support for LimitValue settings 2014-04-21 11:52:41 +10:00
SITL SITL: added SIM_FLOAT_EXCEPT parameter 2014-04-21 15:37:08 +10:00