Paul Riseborough 8f27d3fc54 EKF: don't reset quaternion states unnecessarily ...

When performing the initial in-flight mag yaw reset for RW vehicle, do not reset the quaternion states and corresponding variances unless there has been a change in yaw angle large enough to cause problems with navigation.
This is because the state estimates after a reset are more vulnerable to transient sensor errors, so a reset should be avoided if possible.

2017-11-13 07:05:56 +11:00

..

documentation

EKF: Add readme file to EKF documentation directory

2017-10-13 21:46:41 +11:00

tests

Fix time units on plots

2017-08-14 12:02:03 +02:00

airspeed_fusion.cpp

EKF: use uint64_t cast for XeY to avoid float casting of variables

2017-11-08 11:40:26 +01:00

CMakeLists.txt

Integrate Python-based tests and benchmark into Travis

2017-08-14 12:02:03 +02:00

common.h

Merge pull request #312 from PX4/pr-ekfExtVisQuat

2017-11-12 08:35:39 +11:00

control.cpp

EKF: Allow mag field estimates to stabilise before use

2017-11-13 06:55:02 +11:00

covariance.cpp

EKF: use uint64_t cast for XeY to avoid float casting of variables

2017-11-08 11:40:26 +01:00

drag_fusion.cpp

EKF trivial code style cleanup

2017-08-25 10:09:11 -04:00

ekf_helper.cpp

EKF: don't reset quaternion states unnecessarily

2017-11-13 07:05:56 +11:00

ekf.cpp

EKF: Enable use of rotated external nav estimates

2017-11-01 08:33:57 +11:00

ekf.h

EKF: Allow mag field estimates to stabilise before use

2017-11-13 06:55:02 +11:00

estimator_interface.cpp

EKF: Use consistent test for navigation validity reporting

2017-10-20 14:44:38 +11:00

estimator_interface.h

Merge pull request #312 from PX4/pr-ekfExtVisQuat

2017-11-12 08:35:39 +11:00

FindEigen3.cmake

cmake: include FindEIgen3.cmake for older cmake

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

geo.cpp

Revert "attitude_fw delete unused and cleanup"

2017-08-30 16:23:40 +02:00

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: use uint64_t cast for XeY to avoid float casting of variables

2017-11-08 11:40:26 +01:00

mag_fusion.cpp

EKF: Allow mag field estimates to stabilise before use

2017-11-13 06:55:02 +11:00

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 bug in accumulation of IMU data for flow sensor gyro bias calculation

2017-09-14 18:34:11 +10:00

RingBuffer.h

EKF: use uint64_t cast for XeY to avoid float casting of variables

2017-11-08 11:40:26 +01:00

sideslip_fusion.cpp

EKF: Use dead-reckoning status to determine if air data should modify non-wind states

2017-10-20 14:44:37 +11:00

terrain_estimator.cpp

EKF: use uint64_t cast for XeY to avoid float casting of variables

2017-11-08 11:40:26 +01:00

vel_pos_fusion.cpp

EKF: Enable use of rotated external nav estimates

2017-11-01 08:33:57 +11:00