position_estimator_inav fixes #436
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…timation fixed, cleanup
…about GPS signal state in mavlink added
…, publish at 100 Hz
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Just made large optimization, now consumes only 2% of CPU (was 10%). |
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Merged into inax_flow and inav_sonar_indep |
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- ecl in PX4/Firmware (a2f0ac5): PX4/PX4-ECL@372f9f4 - ecl current upstream: PX4/PX4-ECL@bae4b8a - Changes: PX4/PX4-ECL@372f9f4...bae4b8a bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431) 16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes' 75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops 6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use 868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate 02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks 24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes 0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection 6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground. 0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks f9d4934 2018-04-19 Paul Riseborough - EKF: update comments 82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts 4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to GPS fail check 67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables 3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld 1fba622 2018-05-05 Daniel Agar - travis-ci basic build script cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers 2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary 0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io 5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436) cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support 4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
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- ecl in PX4/Firmware (f5448c2): PX4/PX4-ECL@372f9f4 - ecl current upstream: PX4/PX4-ECL@bae4b8a - Changes: PX4/PX4-ECL@372f9f4...bae4b8a bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431) 16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes' 75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops 6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use 868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate 02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks 24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes 0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection 6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground. 0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks f9d4934 2018-04-19 Paul Riseborough - EKF: update comments 82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts 4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to GPS fail check 67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables 3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld 1fba622 2018-05-05 Daniel Agar - travis-ci basic build script cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers 2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary 0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io 5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436) cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support 4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
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- ecl in PX4/Firmware (7141cb1): PX4/PX4-ECL@372f9f4 - ecl current upstream: PX4/PX4-ECL@bae4b8a - Changes: PX4/PX4-ECL@372f9f4...bae4b8a bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431) 16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes' 75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops 6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use 868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate 02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks 24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes 0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection 6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground. 0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks f9d4934 2018-04-19 Paul Riseborough - EKF: update comments 82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts 4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to GPS fail check 67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables 3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld 1fba622 2018-05-05 Daniel Agar - travis-ci basic build script cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers 2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary 0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io 5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436) cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support 4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
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- ecl in PX4/Firmware (bcebb33): PX4/PX4-ECL@372f9f4 - ecl current upstream: PX4/PX4-ECL@bae4b8a - Changes: PX4/PX4-ECL@372f9f4...bae4b8a bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431) 16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes' 75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops 6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use 868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate 02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks 24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes 0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection 6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground. 0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks f9d4934 2018-04-19 Paul Riseborough - EKF: update comments 82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts 4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to GPS fail check 67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables 3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld 1fba622 2018-05-05 Daniel Agar - travis-ci basic build script cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers 2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary 0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io 5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436) cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support 4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
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- ecl in PX4/Firmware (bcebb33): PX4/PX4-ECL@372f9f4 - ecl current upstream: PX4/PX4-ECL@bae4b8a - Changes: PX4/PX4-ECL@372f9f4...bae4b8a bae4b8a 2018-05-11 Bart Slinger - remove superfluous elseif (#431) 16976d3 2018-05-11 Paul Riseborough - Merge branch 'pr-ekfOptFlowFixes' 75e6590 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops e8e9e34 2018-05-10 Paul Riseborough - EKF: fix bug causing height offset when GPS use stops 6cadc92 2018-05-09 Paul Riseborough - EKF: Don't reject saturated flow data when it is the only aiding source bf902e5 2018-05-09 Paul Riseborough - EKF: Prevent flow motion check false positives bdf5b3e 2018-05-07 Paul Riseborough - EKF: Don't assume large position uncertainty when starting optical flow nav e26711a 2018-05-05 Paul Riseborough - EKF: relax terrain update requirements for continuing optical flow use 868bc01 2018-05-05 Paul Riseborough - EKF: Relax minimum required range finder measurement rate 02963a8 2018-05-05 Paul Riseborough - EKF: relax optical flow on ground motion checks 24b005e 2018-05-03 Paul Riseborough - EKF: range finder aiding logic fixes 0c0a660 2018-05-03 Paul Riseborough - EKF: Decouple range finder use criteria checking and selection 6708bec 2018-04-29 Paul Riseborough - EKF: Don't auto select range finder for height when on ground. 0a63052 2018-04-26 Paul Riseborough - EKF: Fix false triggering of optical flow bad motion checks f9d4934 2018-04-19 Paul Riseborough - EKF: update comments 82de314 2018-04-18 Paul Riseborough - EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 389786e 2018-03-12 Paul Riseborough - EKF: Stop using EV for yaw when GPS fusion starts 4ab7823 2018-02-26 Paul Riseborough - EKF: Add persistence criteria to GPS fail check 67d71ca 2018-02-26 Paul Riseborough - EKF: allow GPS fallback if quality bad and alternative aiding available bd59e38 2018-02-26 Paul Riseborough - EKF: always run GPS checks b227aca 2018-05-05 Daniel Agar - geo_lookup fix table bounds e494a4e 2018-05-05 Daniel Agar - Jenkins set git username and email with environment variables 3639087 2018-05-05 Daniel Agar - cmake and Jenkins add basic address santiizer test buld 1fba622 2018-05-05 Daniel Agar - travis-ci basic build script cde2ee9 2018-05-05 Daniel Agar - cmake ignore missing-field-initializers 2100127 2018-05-05 Daniel Agar - geo: zeroing static unnecessary 0f12db5 2018-05-03 Daniel Agar - travis-ci enable coverity_scan aceab8c 2018-05-05 Daniel Agar - Jenkins upload coverage to codecov.io 5780cd3 2018-05-05 Daniel Agar - Jenkins create PX4/Firmware test branch and push (#436) cf957b5 2018-05-04 Daniel Agar - code coverage cmake and Jenkins support 4e0cd45 2018-05-03 Daniel Agar - doxygen cmake and Jenkins support
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Tested in flight, accelerometer bias estimation works nice, can be merged, but I want to catch the bug with NaN estimation first.