9 Commits

Author	SHA1	Message	Date
Paul Riseborough	dbb8e12948	EKF: Add fusion method to constrain declination when unobservable ... When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.	2016-02-08 14:18:43 +11:00
Paul Riseborough	9347afe250	EKF: Use unique variable name for mag heading fusion observation Jacobian	2016-02-08 14:18:43 +11:00
Paul Riseborough	3f81eb7d1b	EKF: fix formatting	2016-02-04 17:15:03 +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	46b0e9654c	Add filter control logic	2016-01-30 09:01:48 +11:00
Paul Riseborough	802129f384	EKF: Add magnetometer fusion error handling	2016-01-28 09:53:55 +11:00
Roman	8d0022ab1e	enable estimator state and innovations data logging	2016-01-22 11:31:14 +01:00
Roman Bapst	67646a15b0	added full mag fusion	2015-12-10 09:07:00 +01:00