Daniel Agar
92a5bbe97f
ekf2: improve ring buffer sizing and dynamically allocate
2022-01-19 09:04:53 -05:00
Daniel Agar
170849c8f8
ekf2: expand accel bias stability criteria
2022-01-04 13:57:49 -05:00
Daniel Agar
35502c249d
ekf2: don't use Vectors for height innovations (baro, rng, etc)
2022-01-03 09:20:20 -05:00
Daniel Agar
fc17797548
ekf2: delete obsolete _bad_vert_accel_detected
2021-12-13 09:13:39 -05:00
bresch
0d874cf00a
ekf2: move aiding start details in dedicated function
...
When an aiding source needs to be started, simply call the corresponding
starting function and any required reset is handled in there.
2021-12-10 15:18:10 +01:00
bresch
d583ef6b79
ekf2: move height fusion code to separate source file
2021-12-07 09:16:21 +01:00
Matthias Grob
10ceea2fe6
geo: refactoring on comments and usage
2021-12-06 14:30:14 +01:00
bresch
394fa953b8
EKF: get status on yaw alignement in flight
...
1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
2021-11-16 18:09:37 -05:00
bresch
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
bresch
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
bresch
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
bresch
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
bresch
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
Paul Riseborough
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
bresch
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
Daniel Agar
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
Mathieu Bresciani and Daniel Agar
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
bresch
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
mcsauder
f34862f143
Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.
2021-07-17 12:24:56 -04:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
Daniel Agar