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AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor
2022-09-26
Pa
u
l R
i
se
b
orough
A
P_NavE
K
F3: Allow r
e
porting
o
f
a
irspeed consistency
.
.
.
commit
|
commitdiff
|
tree
2022-09-26
Paul Riseborough
AP_NavEKF3: Add
accessor function for airspee
d
health
.
.
.
commit
|
commitdiff
|
tree
2022-09-26
Paul Riseborough
AP_NavEKF3: Enable monitorin
g
of unhealthy a
i
rspeed
.
.
.
commit
|
commitdiff
|
tree
2021-12-19
Paul Ri
s
eborough
AP_NavEKF3:
A
dd missing covariance row res
e
t
commit
|
commitdiff
|
tree
2021-09-23
Paul Riseboroug
h
AP_NavEKF3:
Reduce output observer vertical vel
o
city
.
.
.
commit
|
commitdiff
|
tree
2021-09-23
Paul Riseboro
u
g
h
T
o
ol
s
: Rework copter vibration
failsa
f
e
autotest
commit
|
commitdiff
|
tree
2021-09-23
P
a
ul Risebo
r
ou
g
h
AP_NavEKF
3
: Ma
k
e subse
q
uent ba
d
IMU even
t
dete
c
tions
.
.
.
commit
|
commitdiff
|
tree
2021-09-23
Paul Riseborough
A
P
_Nav
E
KF3: Force veloci
t
y sta
t
e
t
o follow GPS when
.
.
.
commit
|
commitdiff
|
tree
2021-09-23
Paul Riseborough
AP
_
NavE
K
F3: Fix
v
e
rtical
velocity r
e
set
commit
|
commitdiff
|
tree
2021-09-23
Paul Riseb
o
rough
AP_Na
v
EKF3: Fix bug causing
t
oo freque
n
t re
s
e
t
s if
.
.
.
commit
|
commitdiff
|
tree
2021-09-21
Paul Ris
e
boro
u
gh
AP_Na
v
EKF3: fi
x
wind
s
peed covariance initialisatio
n
bug
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseboro
u
gh
AP_NavEKF3: R
e
v
ert IMU and
w
ind spe
e
d proce
s
s noise
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
P
a
ul Riseborough
Tools: R
e
w
o
rk Plane
.
EKFlan
e
switch
aut
o
test
commit
|
commitdiff
|
tree
2021-07-22
Paul
R
is
e
borough
Tools: Rework Copter Vibrati
o
n
Failsaf
e
te
s
t to use
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseboro
u
gh
R
eve
r
t "Copter:
f
a
ils
a
fe if bad vibr
a
t
i
on"
commit
|
commitdiff
|
tree
2021-07-22
Paul Rise
b
orough
A
P
_NavEKF
3
:
ret
u
ne wind process noise for
b
etter airspeed
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborough
AP_N
a
vEK
F
3
: Fix bug preventing copter
w
ind estima
t
ion
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul
R
iseborough
Tool: Al
l
ow more time for quadplane autote
s
t
t
o lan
d
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul
R
ise
b
orough
AP_Nav
E
KF3: Revert EK3_BETA_MASK para
m
eter e
x
tension
commit
|
commitdiff
|
tree
2021-07-22
Paul R
i
seb
o
rough
Copter:
failsafe if bad vibration
commit
|
commitdiff
|
tree
2021-07-22
Paul Risebor
o
u
g
h
A
P_Na
v
EKF3: Rework non-airspe
e
d
w
i
n
d est
i
mation
commit
|
commitdiff
|
tree
2021-07-22
Paul Ri
s
eborough
AP_NAvEKF3: use #d
e
fin
e
value for bad IM
U
h
o
ld
t
im
e
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborou
g
h
Copter: re
w
o
rk ekf_check to us
e
th
e
EK
F
vibrati
o
n_af
f
e
c
ted
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul
R
iseborough
AP_NavEK
F
3:
I
n
cr
e
ase lower state variance
l
im
i
t wh
e
n
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul R
i
se
b
orough
AP_NavEKF3: Us
e
sensor
variance
w
hen checki
n
g
f
o
r bad IMU
commit
|
commitdiff
|
tree
2021-07-22
Paul Ri
s
eborough
AP_NavEK
F
3
:
M
ake bad
I
MU status m
o
re persi
s
tent
commit
|
commitdiff
|
tree
2021-07-22
P
au
l
Ris
e
b
o
rough
AP_AHRS: Add accessor fun
c
tion
f
or vib
r
a
t
ion affec
t
ed
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
P
a
ul Risebo
r
ough
A
P_NavEKF
3
: Add
a
cces
s
or function f
o
r vibration affected
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborough
AP_NavEK
F
3:
Don't updat
e
acce
l
b
i
as states if
v
i
bration
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborough
AP_NavEK
F
3: U
s
e
large accel p
r
o
c
ess noise when IMU
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborough
AP_NavEKF3: Adjust gy
r
o
b
ias proce
s
s noise
tu
n
in
g
commit
|
commitdiff
|
tree
2021-07-22
Paul
Riseboro
u
gh
Too
l
s:
r
elax navi
g
ation
test
accura
c
y
commit
|
commitdiff
|
tree
2021-07-22
Paul
R
ise
b
o
r
ough
AP_NavEKF3: A
l
low smaller dvel bias state varianc
e
s
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul Risebo
r
ough
AP_Nav
E
KF
3
:
Retune IM
U
p
ro
c
ess noise
commit
|
commitdiff
|
tree
2021-07-22
Paul Rise
b
oro
u
gh
To
o
ls: Fix AIRSPEED_AUTOCAL test fa
i
lure
commit
|
commitdiff
|
tree
2021-07-22
P
a
ul R
i
sebor
o
ugh
AP_Na
v
EKF
3
: M
a
ke
g
y
r
o
bias
l
e
a
rning less nois
y
commit
|
commitdiff
|
tree
2021-07-22
Paul
Risebor
o
u
g
h
AP_NavEKF3: Fix bug
pre
v
entin
g
learni
n
g of
X
Y
IMU dvel
.
.
.
commit
|
commitdiff
|
tree
2021-07-22
Paul
Riseboro
u
g
h
AP_NavEKF3
:
Change powf(x,2
)
to
sq(x)
commit
|
commitdiff
|
tree
2021-07-22
P
a
ul
Ris
e
borough
AP
_
Na
v
EKF3: Update covar
i
ance prediction
e
quati
o
n
s
commit
|
commitdiff
|
tree
2021-07-22
Paul Riseborough
A
P
_
NavEKF3
:
Use alt
e
r
nate form
for
q
u
aternion to ro
t
m
at
.
.
.
commit
|
commitdiff
|
tree
2021-06-23
P
aul Ri
s
eborough
AP_NavEK
F
3
: Remov
e
un
u
sed class variable rngBcnT
i
m
e
ou
t
commit
|
commitdiff
|
tree
2021-06-23
Pau
l
Rise
b
or
o
ugh
AP_
N
avEKF3: Ens
u
re post
i
on
t
imeo
u
t fla
g
a
n
d
t
i
mer is
.
.
.
commit
|
commitdiff
|
tree
2021-06-23
Paul R
i
se
b
oro
u
gh
AP_NavEKF3: Fade each
v
e
rt vel
varianc
e
c
l
ip count
.
.
.
commit
|
commitdiff
|
tree
2021-06-23
P
aul Rise
b
orough
AP_NavE
K
F3: Clean up initialisa
t
i
o
n o
f
boolean
a
rray
commit
|
commitdiff
|
tree
2021-06-23
Paul Riseborough
A
P_NavEKF3
:
Remove unw
a
nted line
commit
|
commitdiff
|
tree
2021-06-23
Paul Riseborough
AP_Nav
E
KF3: Prote
c
t aga
i
nst collapse of velocity and
.
.
.
commit
|
commitdiff
|
tree
2021-06-23
Paul Riseboroug
h
A
P_
N
avEKF3: Fix
b
u
g preventi
n
g ho
r
i
z
ontal p
o
sition
.
.
.
commit
|
commitdiff
|
tree
2021-06-23
Paul Riseboroug
h
A
P_N
a
v
E
KF3:
F
ix bug preventing height reset
i
f
b
adIMUdata
commit
|
commitdiff
|
tree
2021-06-23
Paul Riseborough
AP_NavE
K
F
3
:
Fix bug preventing velocit
y
reset if badIMUdata
commit
|
commitdiff
|
tree
2021-06-02
Pau
l
Risebor
o
u
g
h
AP_NavEKF3: Remo
v
e unn
e
cessary
baro
l
imi
t
in
g
commit
|
commitdiff
|
tree
2021-06-02
Paul Riseborough
A
P_NavEKF3: Use parameter
to set b
a
ro groun
d
effect
.
.
.
commit
|
commitdiff
|
tree
2021-06-02
Pa
u
l Riseborough
AP_NavE
K
F3: Use common me
t
hod
f
o
r han
d
ling
b
aro gro
u
nd
.
.
.
commit
|
commitdiff
|
tree
2021-05-11
Pa
u
l
R
isebor
o
ugh
AP_NavEKF3:
Fi
x
typo
in
comment
commit
|
commitdiff
|
tree
2021-05-11
Pa
u
l Riseborough
AP_NavEKF3: Reset to GPS yaw if
fus
i
o
n times out w
h
en
.
.
.
commit
|
commitdiff
|
tree
2021-04-14
P
aul Ri
s
eborou
g
h
Filter: Slew
l
i
m
iter u
s
e differen
t
filterin
g
for
externa
l
.
.
.
commit
|
commitdiff
|
tree
2021-04-14
Paul Riseborough
Filter:
A
djust Sle
w
Li
m
iter tuning
commit
|
commitdiff
|
tree
2021-04-14
Paul Ris
e
b
orough
Filter: Increase ga
i
n modifier action
commit
|
commitdiff
|
tree
2021-04-14
Paul Riseborough
Filte
r
: remov
e
unne
c
es
s
ar
y
fmaxf
commit
|
commitdiff
|
tree
2021-04-14
Paul
R
i
se
b
orough
Filter: Reduce spikes
in
o
scillation slew rate metric
commit
|
commitdiff
|
tree
2021-04-14
Paul Ri
s
eborough
Filte
r
: Improve
S
lewLi
m
ite
r
oscillat
i
o
n det
e
ction
commit
|
commitdiff
|
tree
2021-04-14
Paul
Ris
e
borough
A
PM_
C
on
t
rol: Ensure
adequa
t
e trim speed
commit
|
commitdiff
|
tree
2021-04-14
Pau
l
Rise
b
orou
g
h
F
ilt
e
r: Use positive and negativ
e
direction changes
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
Paul Riseborough
AP_NavEKF3:
White sp
a
ce and com
m
e
n
t fixes
commit
|
commitdiff
|
tree
2021-03-22
Pau
l
R
i
sebo
r
ough
AP_NavEKF3
:
Use better defi
n
e
d data type
commit
|
commitdiff
|
tree
2021-03-22
Pa
u
l Riseborough
AP_Na
v
EKF3: constify
ar
r
a
y index variab
l
e
commit
|
commitdiff
|
tree
2021-03-22
Paul Risebor
o
ugh
AP_Na
v
EKF3: D
o
n't
try to learn gyro biases t
h
at a
r
e
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
Paul
R
iseborou
g
h
AP_NavEKF3: Reduce yaw drift when ope
r
ati
n
g wit
h
out
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
P
a
ul
R
iseborough
AP_NavEKF3:
A
llo
w
adjustment of on ground not movin
g
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
P
a
ul Riseborough
AP_N
a
vEKF3:
Update log messag
e
format de
s
cript
i
on
commit
|
commitdiff
|
tree
2021-03-22
Paul
R
i
sebo
r
ough
AP_N
a
v
E
KF3: Do
n
'
t
use fake meas
u
rements to learn d
v
e
l
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
Paul
Riseborou
g
h
AP_NavEKF3: A
d
d
missing axis specific dvel bias update
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
Paul Riseboroug
h
AP_NavEKF3: Don't allow yaw align
m
ent until tilt
a
lignment
.
.
.
commit
|
commitdiff
|
tree
2021-03-22
P
aul
R
i
seborough
AP_NavEKF3: Do
n
't
lea
r
n
poorly
observed IMU dve
l
bias
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseborough
AP_AHRS: Handle air
s
peed estim
a
tion
wit
h
have_inertial_nav
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseboro
u
g
h
AP_NavEKF
3
:
Use
specialised
f
u
nction for
i
n-flight
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul
R
iseborough
AP_NavEKF3
:
U
p
d
ate pa
r
ameter descriptio
n
commit
|
commitdiff
|
tree
2021-03-05
Paul
R
i
sebo
r
ough
Plane: remo
v
e unnecessary ca
l
l
t
o setTakeoffEx
p
ected
commit
|
commitdiff
|
tree
2021-03-05
Paul
Riseborough
AP_
N
avEKF3:
Don't
r
e
t
urn a
0,0 l
a
t,lng unless
absolutely
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
P
a
ul
Riseb
o
rough
AP
_
AHRS: R
e
m
ove unused AP_A
H
RS_N
a
vEKF::yaw_a
l
ignment
_
comple
t
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Ri
s
ebor
o
ugh
AP_AHRS: Fall back t
o
DCM
a
i
r
sp
e
ed estim
a
te if
EKF
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
P
a
ul Riseborough
AP_NavEKF3: Fix inco
n
s
i
st
e
n
c
y in reporting raw GPS
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseborough
Tools: Fix set_home
a
utotes
t
commit
|
commitdiff
|
tree
2021-03-05
P
a
ul Riseb
o
rough
AP_AHRS: R
e
move
u
nused variab
l
e
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseborough
AP_AHRS:
Add acce
s
s
o
r
functi
o
n for EKF
3
yaw alignment
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Pau
l
Riseborough
A
P_NavEKF3:
A
d
d acces
s
or function fo
r
yaw alignme
n
t
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
P
aul Risebor
o
ugh
Plane: Clarify calculation u
s
ed t
o
detect throw
commit
|
commitdiff
|
tree
2021-03-05
Paul Ris
e
borough
AP_NavEK
F
3: Fix bug cau
s
ing unwanted use of d
e
fault
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul R
i
seborough
AP_AHRS: Fix rebase bu
i
ld e
r
ror
commit
|
commitdiff
|
tree
2021-03-05
P
aul Riseborough
AP_NavEKF
3
: F
i
x EKF
s
e
l
e
c
t
ion bug
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseb
o
rough
AP_NavEK
F
3: Improve in
F
light detection for fixed wing
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseb
o
rough
Plane:
F
ix
t
akeof
f
pitch for hand l
a
u
n
ch
commit
|
commitdiff
|
tree
2021-03-05
P
a
ul
Riseborough
Plane: m
a
k
e detection of impen
d
ing takeoff more likely
commit
|
commitdiff
|
tree
2021-03-05
Pau
l
Riseborough
Plane:
Fix failure to dis
a
rm after landing in
s
tro
n
g
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul R
i
s
e
borou
g
h
Plane: Don't set take
o
ff expec
t
ed until vehic
l
e is
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Ris
e
boroug
h
AP_N
a
v
E
KF3
:
Reset cov
a
riances when falling back
t
o
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseborough
AP_Na
v
EK
F
3: Fix LLH reporting
bug
commit
|
commitdiff
|
tree
2021-03-05
P
a
ul Risebo
r
ough
AP_Na
v
EKF3:
R
eset states
w
hen
f
alling back
into
n
on
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Ris
e
borough
AP_
N
avEKF3: Select
s
tart
u
p aid
i
n
g
mode after landing
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
Paul Riseboroug
h
Plane: Set default
a
irspeed va
r
ia
n
ce
using airspeed
.
.
.
commit
|
commitdiff
|
tree
2021-03-05
P
aul R
i
se
b
oroug
h
To
o
ls: Add hand
l
ing for d
e
fault airspeed variance
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