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

airspeed_fusion.cpp

EKF: Improve wind state reset logic

2016-11-05 12:19:01 +01:00

CMakeLists.txt

EKF: Add multi-rotor drag model for wind estimation

2017-04-16 13:07:12 +02:00

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_helper.cpp

EKF: Don't do magnetic field estimation without earth frame measurements

2017-05-17 08:59:01 +02:00

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

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

FindEigen3.cmake

cmake: include FindEIgen3.cmake for older cmake

2016-05-10 17:59:01 +02:00

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

RingBuffer.h

EKF: remove un-used variable

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

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