[paparazzi-commits] [paparazzi/paparazzi] 009b12: [ins] Add EKF2 from the PX4 ECL library (#2402)

[Freek van Tienen]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 009b121cfd12be8d3e236e0cbd5b564f2639d54f
      
https://github.com/paparazzi/paparazzi/commit/009b121cfd12be8d3e236e0cbd5b564f2639d54f
  Author: Freek van Tienen <address@hidden>
  Date:   2019-04-12 (Fri, 12 Apr 2019)

  Changed paths:
    M .gitmodules
    M conf/Makefile.chibios
    M conf/Makefile.linux
    M conf/Makefile.nps
    M conf/Makefile.stm32
    M conf/abi.xml
    M conf/airframes/examples/bebop2_indi.xml
    M conf/airframes/tudelft/splash3.xml
    M conf/boards/px4fmu_4.0.makefile
    M conf/chibios/chibios_rules.mk
    M conf/conf_example.xml
    M conf/conf_tests.xml
    M conf/firmwares/fixedwing.makefile
    M conf/firmwares/rotorcraft.makefile
    A conf/modules/ins_ekf2.xml
    M conf/modules/ins_mekf_wind.xml
    M conf/modules/rust_demo_module.xml
    M conf/telemetry/default_rotorcraft.xml
    M conf/userconf/tudelft/conf.xml
    M sw/airborne/autopilot.h
    M sw/airborne/boards/apogee/baro_board.c
    M sw/airborne/boards/ardrone/baro_board.c
    M sw/airborne/boards/ardrone/navdata.c
    M sw/airborne/boards/baro_board_ms5611_i2c.c
    M sw/airborne/boards/baro_board_ms5611_spi.c
    M sw/airborne/boards/booz/baro_board.c
    M sw/airborne/boards/hbmini/baro_board.c
    M sw/airborne/boards/lia/baro_board.c
    M sw/airborne/boards/lisa_l/baro_board.c
    M sw/airborne/boards/lisa_m/baro_board.c
    M sw/airborne/boards/lisa_mx/baro_board.c
    M sw/airborne/boards/lisa_mxs/baro_board.c
    M sw/airborne/boards/navgo/baro_board.c
    M sw/airborne/boards/navstik/baro_board.c
    M sw/airborne/boards/swing/baro_board.c
    M sw/airborne/boards/umarim/baro_board.c
    A sw/airborne/c++.cpp
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
    M sw/airborne/math/pprz_isa.h
    M sw/airborne/modules/air_data/air_data.c
    M sw/airborne/modules/ctrl/optical_flow_landing.c
    M sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c
    M sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
    M sw/airborne/modules/ins/ins_skeleton.c
    M sw/airborne/modules/lidar/lidar_lite.c
    M sw/airborne/modules/lidar/lidar_sf11.c
    M sw/airborne/modules/lidar/tfmini.c
    M sw/airborne/modules/meteo/meteo_stick.c
    M sw/airborne/modules/optical_flow/px4flow.c
    M sw/airborne/modules/optical_flow/px4flow_i2c.c
    M sw/airborne/modules/range_finder/laser_range_array.c
    M sw/airborne/modules/range_finder/teraranger_one.c
    M sw/airborne/modules/sensors/baro_MS5534A.c
    M sw/airborne/modules/sensors/baro_amsys.c
    M sw/airborne/modules/sensors/baro_bmp.c
    M sw/airborne/modules/sensors/baro_ets.c
    M sw/airborne/modules/sensors/baro_hca.c
    M sw/airborne/modules/sensors/baro_mpl3115.c
    M sw/airborne/modules/sensors/baro_ms5611_i2c.c
    M sw/airborne/modules/sensors/baro_ms5611_spi.c
    M sw/airborne/modules/sensors/baro_scp.c
    M sw/airborne/modules/sensors/baro_scp_i2c.c
    M sw/airborne/modules/sensors/baro_sim.c
    M sw/airborne/modules/sensors/mag_pitot_uart.c
    M sw/airborne/modules/sonar/agl_dist.c
    M sw/airborne/modules/sonar/sonar_adc.c
    M sw/airborne/modules/sonar/sonar_bebop.c
    M sw/airborne/pprz_syscalls.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/datalink/telemetry_common.h
    M sw/airborne/subsystems/gps.c
    M sw/airborne/subsystems/gps.h
    M sw/airborne/subsystems/gps/gps_sim_nps.c
    M sw/airborne/subsystems/gps/gps_ubx.c
    M sw/airborne/subsystems/ins/ins_alt_float.c
    A sw/airborne/subsystems/ins/ins_ekf2.cpp
    A sw/airborne/subsystems/ins/ins_ekf2.h
    M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/test/test_baro_board.c
    M sw/ext/Makefile
    A sw/ext/ecl
    A sw/ext/matrix
    M sw/simulator/nps/nps_autopilot.h
    M sw/simulator/nps/nps_autopilot_fixedwing.c
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/simulator/nps/nps_fdm_gazebo.cpp
    M sw/simulator/nps/nps_fdm_jsbsim.cpp

  Log Message:
  -----------
  [ins] Add EKF2 from the PX4 ECL library (#2402)

* [abi] Add timestamp to AGL and BARO_ABS

* [make] Add support for c++0x for all architectures

* [math] Add air density calculation

* [gps] Add horizontal and vertical position accuracy

* [boards] PX4FMU change default baudrate and add SBUS

* [ins] Add EKF2

* [tests] Add Bebop2 with EKF2

* [nps] Fix jsbsim simulator initialisation and GPS accuracy