fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 12:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity
48,275 Commits 852 Branches 161 Tags
copilot/fix-stack-buffer-overflow
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
CarlOlsson 528127c372 fw_att_ctrl: remove unused variable 2021-03-12 12:19:29 -05:00
CarlOlsson b4b424bf7d tecs: also fix the bug in update_vehicle_state_estimates() 2021-03-05 19:44:20 +01:00
CarlOlsson 0f461f7f60 TECS: Fix internal state init if dt is large 2021-03-05 19:44:20 +01:00
CarlOlsson 835e3258ed uavcannode: use correct vertical position uncertainty 2021-02-02 11:56:07 +01:00
CarlOlsson 98c8cbb27f ekf2: fix odom body rate sign bug 2020-09-30 11:34:37 -04:00
CarlOlsson 2128679ab3 rename templates/module to templates/template_module 2020-09-11 09:21:33 +02:00
Carl Olsson 7f21364844 EKF: use initial wind uncertainty with no airspeed sensor (#823) 2020-05-20 08:38:58 +02:00
CarlOlsson 58ded8d4c0 ekf2: remove unused function declatation 2020-03-18 14:33:11 +01:00
CarlOlsson ee5e3c479b ekfgsf: fix formatting 2020-03-18 08:34:02 +01:00
CarlOlsson 93be6ea49a EKF: dont print wrong reset message on baro timeout 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-09 09:06:49 +01:00
CarlOlsson 8de1f5229b EKF2: use fixed time constant for GPS blending 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson 357700aa8d EKF2 GPS blending: fall out of blending if one module lose 3D fix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson a10a228092 EKF2 GPS blending: reset relative position offsets if blending not feasible 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
Carl Olsson 3fa5f501ae EKF: dont check gps_check_fail_status in velocity reset (#761) 
In a velocity reset we only used the GPS measurement if _gps_check_fail_status.value was equal to zero. The value of this flag is independent of EKF2_GPS_CHECK so checks can fail even if they are not configured to have any effect.
 2020-02-27 11:59:38 +01:00
CarlOlsson 7e00dcd382 EKF2: Fix GPS blending time jitter 2020-02-26 07:39:47 +01:00
CarlOlsson b6420d0b79 ekf: add vehicle at rest to flags 2020-02-12 18:58:24 +01:00
CarlOlsson a61f1647ad replay: remove GPS relative timestamps 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-02-07 08:19:22 +01:00
CarlOlsson 37db7d3bba ekf2: define max number of range finders seperate from max number of mutli uORB topics 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-02-05 08:03:23 +01:00
CarlOlsson dbf0bd43e8 EKF: update wind covariance initialization 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-01-23 10:27:54 +11:00
CarlOlsson 13a9b552c5 Remove unused GPS fail circuit breaker 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-01-08 10:50:26 -05:00
CarlOlsson 12fcddd288 fmu: remove unused functions 2019-07-04 22:08:00 -04:00
CarlOlsson ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
CarlOlsson 9a2617ad33 vtol_att_control: remove unused subscription variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-28 09:03:53 +01:00
CarlOlsson ed2d4f6a9c replay: fix issue when original logfile had topics with zero timstamps 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-25 16:00:39 -04:00
CarlOlsson 7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00
CarlOlsson 32ca6f7030 ekf: scale wind process noise with low pass filtered height rate 2019-03-19 13:10:12 +11:00
CarlOlsson 938c8ad9ad EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff 2019-03-19 13:04:54 +11:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
CarlOlsson 8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson 000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 2019-03-12 19:07:55 +11:00
CarlOlsson 96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 56b6b7a778 EKF: cleanup use of _mag_filt_state 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Carl Olsson 447e0be250 gpssim: populate s_variance_m_s with 0.25 (#11521) 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-02-24 11:23:28 -05:00
Carl Olsson 54ab8191e3 EKF: add method to get the terrain variance 2019-02-06 08:49:16 -05:00
CarlOlsson fd4caa849d msg: add gps_yaw and mag_aligned to estimator_status 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-02-05 19:31:30 -05:00
CarlOlsson 6e7c119b31 EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
CarlOlsson 0896f7b9bd EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
CarlOlsson 8a813c57ec EKF: fix comment typo 2019-01-14 09:57:44 +11:00
CarlOlsson 472f2286b7 EKF: initialize covariances before we reset the heading in order to preserve the yaw uncertainty 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-14 09:57:44 +11:00
CarlOlsson 490888285d EKF: Remove flag prefix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
CarlOlsson d223680197 EKF: add flt_mag_align_complete to control_status flags 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
CarlOlsson 1a969aed07 EKF: use low pass filtered mag measurements for heading initialization 2018-12-05 10:08:11 +01:00
CarlOlsson 8a2e512c2d terrain_estimator: add vehicle_variance_scaler 2018-11-15 08:38:48 +11:00
CarlOlsson d0c69efff9 gpio_led: fixed typo 2018-10-22 09:26:06 -04:00
CarlOlsson 6499a4ffc7 board_config: fixed typo 2018-10-22 09:26:06 -04:00
CarlOlsson f15365fe97 process_sensor_data.py: update description 2018-10-22 09:26:06 -04:00
CarlOlsson db4d79358a commander: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson b85710b194 ekf2: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson 02a3528f24 commander: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson c826140c2b commander: update comment to make post takeoff ekf quality test logic more clear 2018-10-22 09:26:06 -04:00
CarlOlsson cd382d8874 voted_sensors_update: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson 7b0e0de43c ekf2: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson 6647471238 ekf2: increase maximum of EKF2_MAG_YAWLIM. This is needed on some fw platforms 
in order to not constantly switch mag fusion mode in gusty winds.
 2018-10-22 09:26:06 -04:00
CarlOlsson 82106cc4c1 fw_l1_control: add underscores to perf for consistency 2018-10-22 09:26:06 -04:00
CarlOlsson e6d378c9aa navigator: fix typo 2018-10-22 09:26:06 -04:00
CarlOlsson 5a10db65b6 ecl_tools: Always allocate topic data variables 2018-10-09 09:29:03 -04:00
CarlOlsson 01c2994107 ecl_tools: fix typo in title 2018-10-09 09:29:03 -04:00
CarlOlsson 8058878566 ecl_tools: add error message if topic not found in logfile 2018-10-09 09:29:03 -04:00
CarlOlsson 3424e73aa3 ecl_tools: use pyulog built in function to get dataset 2018-10-09 09:29:03 -04:00
CarlOlsson 56150c28dd ll40ls: increase the sleep time after resetting registers 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2018-04-19 07:52:15 +02:00
CarlOlsson cbf3cee096 ll40ls: increase the number of samples used to find a correlation peak for LitarLite 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2018-04-19 07:52:15 +02:00
Carl Olsson f6d23cc621 added rng_stuck to filter control status flags (#392) 2018-03-21 11:46:27 +11:00
CarlOlsson 1cd0ca9c6c updated ecl 2018-01-02 22:36:42 +01:00
CarlOlsson 84d7eb2900 ekf2: added beta test ratio to estimator_status 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2018-01-02 22:36:42 +01:00
CarlOlsson 925c65b4d5 ekf2: add beta innovation gate to parameters 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-12-21 04:02:10 +08:00
CarlOlsson 5c8b22b43f ekf: return beta test ratio in get_innovation_test_status 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-12-18 15:48:36 +01:00
CarlOlsson dea0c8bb6a tecs: fixed some typos 2017-12-08 00:31:12 -05:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
CarlOlsson 8c83167857 EKF: fixed comment 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 11:41:55 +02:00
CarlOlsson 8200e4b218 EKF: added get_wind_velocity_var function 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-02 14:47:56 +02:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
CarlOlsson 6a9f47b31e msg: Fix documentation of filter_fault_flag in estimator status msg 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-09-13 05:48:35 -07:00
CarlOlsson 6135179202 generate_listener: Add support for uint16, int32 and int16 arrays 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-08-26 22:34:25 +02:00
CarlOlsson 49c0947cc2 generate_listener: Add space in array output 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-08-26 22:34:25 +02:00
Carl Olsson d92377a6e6 ekf2: remove unused function (#7529) 
* ekf2: remove unused function

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>

* ekf2: removed unused variable _mag_decl_saved

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-07-17 17:24:23 +10:00
CarlOlsson b255d4a53a fixed typos 2017-06-12 18:13:22 +02:00
CarlOlsson 871ebb251b EKF: Changed get_control_mode to coyp 32 bits 2017-06-01 11:02:56 +02:00
CarlOlsson a1308482fd EKF: Reset the mag states to the field state variance when switching from the inhibit mag mode to standard mode 2017-05-31 10:18:40 +02:00
CarlOlsson be16406b35 EKF: Add feature to use the mag to only update the mag states 2017-05-26 11:29:21 +02:00
CarlOlsson 0d3fd77ba9 mixer: Removed the pitch offset in the mixer file for the TBS Caipirinha since it should be handled by either hardware installation or trim parameter 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-01-12 13:35:30 -08:00
CarlOlsson 72ad6627e1 updated beta noise 
Conflicts:
	src/modules/ekf2/ekf2_params.c
 2016-11-15 23:58:05 +01:00
CarlOlsson 5435b99f86 added beta innovations to ekf_innovations 2016-11-15 23:58:05 +01:00
CarlOlsson e4f5710ec3 added logic for beta fusion 2016-11-15 23:58:05 +01:00
CarlOlsson f00f6e6eff added parameter for when to fuse sideslip 2016-11-15 23:58:05 +01:00
CarlOlsson 1223e4ba6b added beta to replay 2016-11-15 23:58:05 +01:00
CarlOlsson 106c882cea modified logging 2016-11-15 23:58:05 +01:00
CarlOlsson d550290e63 modified ekf2_main.cpp 2016-11-15 23:58:05 +01:00
CarlOlsson a9182259a5 fixed bug in beta fusion 2016-11-05 12:19:01 +01:00
CarlOlsson 0e3ae4b323 fixed issue with the covariance update in synthetic sideslip fusion 2016-11-05 12:19:01 +01:00
CarlOlsson e1d9d503e3 updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated 2016-11-05 12:19:01 +01:00
CarlOlsson dec686afd7 updated parameters 2016-11-05 12:19:01 +01:00
CarlOlsson 5205a8198b added function to control when to fuse beta 2016-11-05 12:19:01 +01:00