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px4-firmware/EKF
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Paul Riseborough 394dd95cba EKF: Don't do magnetic field estimation without earth frame measurements 
Use horizontal acceleration to check if yaw is observable independent of the magnetometer.
Use rotation about the vertical to check if mag raises are observable.
If neither yaw of mag biases are observable, save the magnetic field variances and switch to magnetic yaw fusion.
Use the last learned declination when using magnetic yaw fusion so that the yaw reference remains consistent.
When yaw or biases become observable, reinstate the saved variances and switch back to 3D mag fusion.
 		2017-05-17 08:59:01 +02:00
..
tests CMakeLists: don't always optimize for size 2016-09-27 16:35:35 +02:00
CMakeLists.txt EKF: Add multi-rotor drag model for wind estimation 2017-04-16 13:07:12 +02:00
FindEigen3.cmake cmake: include FindEIgen3.cmake for older cmake 2016-05-10 17:59:01 +02:00
RingBuffer.h EKF: remove un-used variable 2017-01-15 10:02:31 +01:00
airspeed_fusion.cpp EKF: Improve wind state reset logic 2016-11-05 12:19:01 +01:00
common.h EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
control.cpp EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
covariance.cpp EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
drag_fusion.cpp EKF: Fix travis clang build error 2017-04-18 17:06:31 +10:00
ekf.cpp EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
ekf.h EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
ekf_helper.cpp EKF: Don't do magnetic field estimation without earth frame measurements 2017-05-17 08:59:01 +02:00
estimator_interface.cpp EKF estimator_interface coverity fix 139419 2017-04-29 11:48:15 +02:00
estimator_interface.h ekf2 initialization fixes 2017-04-24 18:56:50 -04:00
geo.cpp geo NULL to nullptr (#242) 2017-02-25 15:27:00 -05:00
geo.h Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4. 2016-03-05 01:58:58 -07:00
gps_checks.cpp EKF: Don't use EKF origin in GPS drift check calculation 2017-04-12 13:11:34 +02:00
mag_fusion.cpp EKF: reduce KH to only the elements that are really needed, and merge the loops 2016-11-02 10:26:40 +01:00
mathlib.cpp Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
mathlib.h cmake add all EKF sources (#243) 2017-02-27 00:46:48 -05:00
optflow_fusion.cpp EKF: fix reporting of optical flow fusion errors 2017-04-29 11:46:39 +02:00
sideslip_fusion.cpp EKF: Improve recovery and reporting for badly conditioned sideslip fusion 2016-11-05 12:19:01 +01:00
terrain_estimator.cpp update range sensor angle parameters in case they have changed 2017-02-22 14:12:05 +01:00
vel_pos_fusion.cpp EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00