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Commits on Mar 18, 2019

• EKF: fixed some comment typos

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Commits on Mar 12, 2019

• EKF: Documentation edits

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• EKF: update get_mag_decl_deg()

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• EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()

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• EKF: correct quaternion order

  

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• EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter()

  

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• EKF: Change the EKF initialization to

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• EKF: initialize the newest attitude estimate to a valid quaternion

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• EKF: Also update the newest and oldest quaternion estimate in

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• EKF: fix the rotation direction of the buffered attitude solutions

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• EKF: cleanup use of _mag_filt_state

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• EKF: remove unused variable

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Commits on Mar 9, 2019

• Ekf: add more useful methods to interface with the covariances (#543)

  

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Commits on Mar 5, 2019

• EKF drop unused timestamp from collect_gps() and pass data by const reference

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• Add Paparazzi compatibility (#580)

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Commits on Feb 8, 2019

• EKF mag_fusion avoid unnecessary double promotion

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Commits on Feb 6, 2019

• EKF: add method to get the terrain variance

  

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Commits on Feb 3, 2019

• EKF tests update SWIG usage and use latest containers

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Commits on Jan 31, 2019

• EKF: Ensure FW yaw alignment method is used on first in-air reset

  

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• EKF: protect declination fusion from badly conditioned earth field estimates

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• EKF: Update cleaned up autocode fragment with sign error fix and missing LD

  

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• EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion

  

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• EKF: Rework use of fuseDeclination()

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• EKF: Save mag field covariance data before reset

  

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• EKF: Save mag field covariance information on startup

  

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• EKF: Ensure mag field state covariance data is always available for re-use

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• EKF: Don't discard declination certainty information when resuming 3-axis fusion.

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• EKF: Prevent rapid changes in declination estimate after a reset

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• EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix

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• EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance()

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• EKF: Fix rebase error

  

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• EKF: Fix sign error in increaseQuatYawErrVariance function

  

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• EKF: Use consistent method for recording completion of in-flight yaw alignment

  

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• EKF: Rework quaternion yaw reset.

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• EKF: Add function to un-correlate quaternion states

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