Paul Riseborough d94068b88a EKF: Simplify calculation of height above terrain observation variance ... The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.		2017-02-22 14:12:05 +01:00
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tests	CMakeLists: don't always optimize for size	2016-09-27 16:35:35 +02:00
CMakeLists.txt	adopted EKF/CMakeLists	2016-11-05 12:19:01 +01:00
FindEigen3.cmake	…
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: enable scaling of range observation variance with height	2017-02-22 14:12:05 +01:00
control.cpp	EKF: Add arbitrary pitch offset for range sensor	2017-02-22 14:12:05 +01:00
covariance.cpp	EKF: Improve wind state reset logic	2016-11-05 12:19:01 +01:00
ekf.cpp	EKF: Add arbitrary pitch offset for range sensor	2017-02-22 14:12:05 +01:00
ekf.h	EKF: Add arbitrary pitch offset for range sensor	2017-02-22 14:12:05 +01:00
ekf_helper.cpp	c++11 initialization cleanup (#237)	2017-02-05 13:05:10 -05:00
estimator_interface.cpp	EKF: Use norm for vector length everywhere	2017-02-22 14:12:05 +01:00
estimator_interface.h	c++11 initialization cleanup (#237)	2017-02-05 13:05:10 -05:00
geo.cpp	Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52)	2016-05-19 10:34:16 -06:00
geo.h	…
gps_checks.cpp	c++11 initialization cleanup (#237)	2017-02-05 13:05:10 -05:00
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	Addressed C99 compiler issues of initializing variables in header and unused included statements.	2016-05-19 09:58:18 -06:00
optflow_fusion.cpp	EKF: remove dead code	2017-01-15 10:02:31 +01:00
sideslip_fusion.cpp	EKF: Improve recovery and reporting for badly conditioned sideslip fusion	2016-11-05 12:19:01 +01:00
terrain_estimator.cpp	EKF: Simplify calculation of height above terrain observation variance	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