Merge branch 'hotfix/v1.2.7'

Aceinna · Apr 24, 2020 · cd835a3 · cd835a3
2 parents 4bafdf0 + bd7ca70
commit cd835a3
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Showing 176 changed files with 63,746 additions and 4,208 deletions.
diff --git a/examples/OpenIMU300RI/IMU/board/OpenIMU300.json b/examples/OpenIMU300RI/IMU/board/OpenIMU300.json
diff --git a/...les/OpenIMU300RI/IMU/src/FreeRTOSConfig.h → ...OpenIMU300RI/IMU/include/FreeRTOSConfig.h b/...les/OpenIMU300RI/IMU/src/FreeRTOSConfig.h → ...OpenIMU300RI/IMU/include/FreeRTOSConfig.h
diff --git a/examples/OpenIMU300RI/IMU/src/osresources.h → ...es/OpenIMU300RI/IMU/include/osresources.h b/examples/OpenIMU300RI/IMU/src/osresources.h → ...es/OpenIMU300RI/IMU/include/osresources.h
diff --git a/examples/OpenIMU300RI/IMU/ldscripts/stm32f40x.ld b/examples/OpenIMU300RI/IMU/ldscripts/stm32f40x.ld
diff --git a/examples/OpenIMU300RI/IMU/lib/Core/Algorithm/algorithmAPI.h b/examples/OpenIMU300RI/IMU/lib/Core/Algorithm/algorithmAPI.h
@@ -36,7 +36,7 @@ limitations under the License.
  *
  * @retval N/A
  *****************************************************************************/
-void InitializeAlgorithmStruct(uint16_t callingFreq);
+void InitializeAlgorithmStruct(uint8_t callingFreq);
 
 /******************************************************************************
  * @brief Get algorithm status.
@@ -68,7 +68,23 @@ void enableGpsInAlgorithm(BOOL enable);
 
 BOOL gpsUsedInAlgorithm();
 
-void   SetAlgorithmUseDgps(BOOL d);
+void enableOdoInAlgorithm(BOOL enable);
+
+BOOL odoUsedInAlgorithm();
+
+void enableFreeIntegration(BOOL enable);
+
+BOOL freeIntegrationEnabled();
+
+void enableStationaryLockYaw(BOOL enable);
+
+BOOL stationaryLockYawEnabled();
+
+void enableImuStaticDetect(BOOL enable);
+
+BOOL imuStaticDetectEnabled();
+
+void SetAlgorithmUseDgps(BOOL d);
 
 void updateAlgorithmTimings(int corr, uint32_t tmrVal );
 

diff --git a/examples/OpenIMU300RI/IMU/lib/Core/Algorithm/include/AlgorithmLimits.h b/examples/OpenIMU300RI/IMU/lib/Core/Algorithm/include/AlgorithmLimits.h
@@ -39,12 +39,13 @@ limitations under the License.
 #define LIMIT_BIAS_RATE_UPDATE_INS       5.0e-4
 
 #define LIMIT_MIN_GPS_VELOCITY_HEADING  0.45        //0.45 m/s ~= 1.0 mph
+#define RELIABLE_GPS_VELOCITY_HEADING   1.0         // velocity of 1.0m/s should provide reliable GNSS heading
 
 #define LIMIT_OBS_JACOBIAN_DENOM    1e-3;
 
 // The following times are compared against ITOW (units in [msec])
-//#define LIMIT_MAX_GPS_DROP_TIME                     3    // 3 [sec]
-#define LIMIT_MAX_GPS_DROP_TIME                     30      // [sec]
+#define LIMIT_MAX_GPS_DROP_TIME                     300      // [sec]
+#define LIMIT_RELIABLE_DR_TIME                      10      // [sec]
 #define LIMIT_MAX_REST_TIME_BEFORE_DROP_TO_AHRS     60000   // 60000 [ msec ] = 60 [ sec ]
 #define LIMIT_MAX_REST_TIME_BEFORE_HEADING_INVALID  120000  // 120sec, heading drifts much slower than pos
 #define LIMIT_DECL_EXPIRATION_TIME                  60000  // 60,000 [ counts ] = 10 [ min ]