109 Commits

Author	SHA1	Message	Date
Paul Riseborough	0308f2f796	EKF: Add parameters to control declination source and fusion type	2016-02-14 22:01:53 +01:00
Roman	ce0ddc0207	-added comments ... -removed unused print functions -removed false _imu_time_last variable (correct is _time_last_imu)	2016-02-14 09:49:26 +01:00
Paul Riseborough	47ab5ebcdd	EKF: Make PR comply with project convention for indenting	2016-02-08 15:12:38 +11:00
Paul Riseborough	6aeccf01ff	EKF: Add missing fusion health status messages	2016-02-08 14:18:43 +11:00
Paul Riseborough	3f81eb7d1b	EKF: fix formatting	2016-02-04 17:15:03 +11:00
Paul Riseborough	9bfc11b660	EKF: Use specific position observation noise when flying without GPS ... A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).	2016-02-03 18:40:32 +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
bugobliterator	287f5eb0c2	EKF: move all estimator specific types to common header	2016-01-30 12:44:19 -08:00