17 Commits

Author	SHA1	Message	Date
Paul Riseborough	687fcc70be	EKF: Explicitly define type conversion for GPS height	2016-03-16 17:18:20 +11:00
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	2016-03-16 10:40:51 +11:00
Paul Riseborough	d2407c3463	EKF: code style updates	2016-03-13 21:17:51 +11:00
Paul Riseborough	26238bc2f5	EKF: Allow for change in position when defining the WGS-84 origin position ... This allows GPS aiding to commence later in flight without step changes in local position output	2016-03-11 11:03:43 +11:00
Paul Riseborough	cd0cac066a	EKF: Calculate and publish horizontal and vertical position accuracy ... This calculation takes into account the uncertainty of the origin. Dead reckoning status is also published	2016-02-25 10:38:07 +11:00
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	2016-02-17 17:33:18 -08:00
Paul Riseborough	83945581ed	EKF: Add function to calculate the magnetic declination to use	2016-02-14 22:01:53 +01:00
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	2016-02-10 10:25:27 +11:00
Paul Riseborough	2b1e8fe910	EKF: Update tuning parameters ... Set conservative defaults as a baseline for tuning Add a missing parameter for magnetometer observation noise. Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise). Scale vertical GPS noise to allow for average EPV to EPH ratio. Update documentation and display names for consistency.	2016-02-03 17:05:45 +11:00
bugobliterator	d79e12dfa1	EKF: fix code style	2016-01-31 00:12:16 -08:00
Paul Riseborough	466a104534	EKF: additional GPS check logic ... Improve naming of NED origin initialisation status Add check for GPS solution type Use GPS checks when regaining GPs in-flight	2016-01-30 12:21:39 -08:00
bugobliterator	251996d387	ekf: move gps checks to Ekf library from estimator_base	2016-01-29 17:15:18 -08:00
Paul Riseborough	46b0e9654c	Add filter control logic	2016-01-30 09:01:48 +11:00
Paul Riseborough	39eef3a2d7	EKF: Remove use of camel case variable names ... Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.	2016-01-28 08:37:45 +11:00
Paul Riseborough	cc50d26601	EKF: Update comments	2016-01-28 08:13:38 +11:00
Paul Riseborough	6326433c47	EKF: Eliminate call to hrt_absolute_time() ... This will make the library more portable	2016-01-27 19:04:31 +11:00
Paul Riseborough	94a6644684	Add comprehensive user selectable GPS checks	2016-01-25 13:07:57 +11:00