Paul Riseborough
161ac2e051
EKF: ensure position co-variances are reset
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When transitioning into optical flow nav from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
2016-05-08 18:03:09 +10:00
Paul Riseborough
feb4db6347
EKF: protect against large IMU errors during initial tilt alignment
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Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
2016-05-08 17:54:45 +10:00
Paul Riseborough
00973d6215
EKF: fix pos/vel fusion innovation variance bug
2016-05-08 17:51:47 +10:00
Paul Riseborough
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
2016-05-08 16:03:21 +10:00
Paul Riseborough
724280fd1f
EKF: move calculation of optical flow observation variance into a function
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Allows it to be used when calculating initial state variance
2016-05-08 15:40:06 +10:00
Paul Riseborough
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
2016-05-08 10:30:40 +10:00
Lorenz Meier
4aec95b239
HMC5883: Be less sensitive to large scaling errors and offsets
2016-05-07 14:37:55 +02:00
Lorenz Meier
3f169d9b78
Fix instructions for airspeed calibration
2016-05-07 14:37:55 +02:00
Paul Riseborough
c66ed7b662
EKF: Add interface method for filter fault status
2016-05-07 21:18:00 +10:00
Paul Riseborough
020b87933e
EKF: replace fault status struct with a union to facilitate logging
2016-05-07 21:11:16 +10:00
Paul Riseborough
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
Sander Smeets
1815b47fbf
Add reserved type, fixes #4466 ( #4476 )
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* Add reserved type, fixes #4466
* Additional reserved vtol types added to is_vtol
2016-05-07 10:59:49 +02:00
Andreas Bircher
61d2987e6d
Geotagging enhancements ( #4475 )
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* adding the altitude tag
* sorting list of pics before tagging
* adding instruction about alphabetical image naming
2016-05-07 10:29:40 +02:00
Paul Riseborough
0c6a367e1b
EKF: fix Travis build error
2016-05-07 17:45:49 +10:00
Paul Riseborough
22f0f52bf1
EKF: fix travis build error
2016-05-07 17:06:45 +10:00
Paul Riseborough
9e53ff2f80
EKF: Improve protection against bad optical flow fusion
2016-05-07 14:23:56 +10:00
Paul Riseborough
1126048a93
EKF: Improve protection against bad airspeed fusion
2016-05-07 14:23:38 +10:00
Paul Riseborough
c8d95586e7
EKF: Improve protection against bad magnetometer fusion
2016-05-07 14:23:20 +10:00
Paul Riseborough
310bd97080
EKF: Improve protection against bad pos vel fusion
2016-05-07 14:22:59 +10:00
Paul Riseborough
da9d894441
EKF: Improvements to covariance reset
2016-05-07 12:57:41 +10:00
Daniel Agar
7b0078a20d
bosch bmi160 driver ( #4469 )
2016-05-06 21:07:34 +02:00
Lorenz Meier
755176b247
Sim compile fix
2016-05-06 19:22:18 +02:00
Lorenz Meier
ebaca071f6
Battery charge estimation: Factor in voltage drop for idle props
2016-05-06 18:14:34 +02:00
Lorenz Meier
48d7295be6
Default to a multicopter
2016-05-06 07:28:36 +02:00
Mark Charlebois
e2c3ea064e
Remove release configs ( #4454 )
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* Removed release configs for eagle
These configs are only built for internal testing
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
* Removed release build for eagle from Makefile
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-05-06 07:18:57 +02:00
Lorenz Meier
7dbef87ca0
FW pos control: Reduce excessive stack ssize
2016-05-05 20:11:00 +02:00
Lorenz Meier
5e099d8d16
sensors: Reduce perf counters
2016-05-05 20:09:09 +02:00
Lorenz Meier
901461f301
FW att ctrl: Reduce perf counters
2016-05-05 20:08:54 +02:00
Lorenz Meier
34c7dea08c
EKF: Reduce perf counters
2016-05-05 20:08:43 +02:00
Lorenz Meier
dd774a60e3
IO driver: Reduce perf counters
2016-05-05 20:08:11 +02:00
Lorenz Meier
2e23d01b60
Systemlib: harden perf counter handling for null ptrs
2016-05-05 20:07:48 +02:00
Lorenz Meier
32e2998fe4
ROMFS: Further squeeze FMUv1 logging buffer
2016-05-05 20:07:20 +02:00
Lorenz Meier
e250d12184
Board drivers: Shorten perf names
2016-05-05 20:06:42 +02:00
Lorenz Meier
1840d2287c
Update ECL to reduce perf counter usage
2016-05-05 20:06:23 +02:00
Lorenz Meier
199c423f1f
Attitude fw: Remove builtin perf counters
2016-05-05 20:06:01 +02:00
Lorenz Meier
ae75ba26b7
MAVLink: Remove excessive stack
2016-05-05 19:36:39 +02:00
Lorenz Meier
986145ac23
ROMFS: Free flash by being less verbose
2016-05-05 19:36:28 +02:00
Lorenz Meier
29550a4cee
Strip LPE config, as it has become part of the default config
2016-05-05 18:23:33 +02:00
Lorenz Meier
639a589233
Fix RTL abort detection on stick change
2016-05-05 16:55:04 +02:00
Lorenz Meier
bbd2b763a3
Fix battery charge level filter
2016-05-05 16:13:58 +02:00
Julian Oes
6c61b67fd5
shmem: fix eagle build
2016-05-05 14:28:35 +02:00
Julian Oes
bdaa1b58f6
uart_esc: fix eagle build
2016-05-05 14:28:20 +02:00
Lorenz Meier
2801a54544
Snapdragon param build fix
2016-05-05 14:15:25 +02:00
Lorenz Meier
34ba80ea9d
Remove attributes warning for Snapdragon
2016-05-05 14:09:18 +02:00
Lorenz Meier
192510ee1c
FMUv4 compile fix
2016-05-05 14:09:03 +02:00
Lorenz Meier
084dfb4026
Fix Snapdragon no-packed
2016-05-05 14:02:31 +02:00
Lorenz Meier
1e7f19335d
Build: Less verbose
2016-05-05 13:37:02 +02:00
Daniel Agar
7aa6e85563
enable Wshadow
2016-05-05 13:32:42 +02:00
Paul Riseborough
d9aeace6ac
EKF: tuning update
2016-05-05 21:23:03 +10:00
Paul Riseborough
f1b7e7714e
EKF: Make average update rate of EKF closer to target
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With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
2016-05-05 21:23:03 +10:00
Paul Riseborough