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Author SHA1 Message Date
Kabir Mohammed bcaa990220 Updated DF submodule 2016-05-19 15:41:50 +02:00
Kabir Mohammed 1bd4dca266 Fix RPI2 defines 2016-05-19 15:41:50 +02:00
Kabir Mohammed 529460d573 Fix RPi2 build system 2016-05-19 15:41:50 +02:00
Roman Bapst 02ba3317e9 WIP: Manual attitude setpoint for large heading errors (#4564) 
* mc pos control: in manual mode calculate attitude setpoint
such that it reflects the users intuition of roll and pitch
for any given heading error

* added some comments on the new manual attitude setpoint generation

* make calculation shorter
 2016-05-19 15:28:04 +02:00
Beat Küng fd0f52bebd orb macros: cleanup some unused code (#4576) 2016-05-19 11:08:37 +02:00
Paul Riseborough f5e2dabc2b Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
Paul Riseborough fee5e87d87 ecl: update submodule reference 
Incorporates big fixes for use of external vision data
 2016-05-19 13:04:49 +10:00
Paul Riseborough e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough 567e10eb66 ecl: update library reference 
Further updates to improve angular alignment consistency
 2016-05-19 08:08:39 +10:00
Paul Riseborough 867bc8c601 Merge pull request #139 from PX4/pr-ekf2Alignment 
EKF: Improve angular alignment consistency
 2016-05-18 21:23:31 +10:00
Paul Riseborough c1b02eaa91 EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned 2016-05-18 21:06:45 +10:00
Paul Riseborough aaac867da8 EKF: Adjust tilt alignment threshold 2016-05-18 20:34:12 +10:00
Paul Riseborough e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough b9a3712ccb EKF: record yaw alignment event during initialisation to allow heading fusion to start early 
This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
 2016-05-18 19:25:19 +10:00
Paul Riseborough 94a63ec9d5 EKF: don't interfere with quaternion covariances during tilt alignment 2016-05-18 19:25:19 +10:00
Paul Riseborough 22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +10:00
Nic 1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
Paul Riseborough f5a1569f49 ecl: update library reference 
fixes bug that can cause alignment to fail for pitch angles near +-90 deg
 2016-05-18 12:44:04 +10:00
Julian Oes 6ddffb71ea SITL init: set EKF2 params for SITL 
The sensors in the SITL environment are near ideal, so the
initialization in ekf2 can happen quicker.
 2016-05-18 12:44:04 +10:00
Julian Oes 1e155776fd Revert "Switch from EKF2 to LPE since SITL s is not any more a bearable workflow with EKF2 init lag" 
This reverts commit 503966165b.
 2016-05-18 12:44:04 +10:00
Paul Riseborough 83cc9ef496 ekf2: Enable tuning of initial tilt alignment uncertainty 2016-05-18 12:44:04 +10:00
Paul Riseborough 71db04c02c ecl: update submodule reference 
adds ability to set initial tilt alignment uncertainty
 2016-05-18 12:44:04 +10:00
Paul Riseborough 7d2d15643d ekf2: Add tuning for IMU switch-on bias errors 2016-05-18 12:44:04 +10:00
Paul Riseborough ec991ab1a8 ecl: update submodule reference 2016-05-18 12:44:04 +10:00
Paul Riseborough 50ba26a434 Merge pull request #134 from PX4/pr-ekf2Alignment 
EKF: Improved tilt alignment control
 2016-05-18 12:34:22 +10:00
Paul Riseborough e4b2e9c93d EKF: Improve yaw alignment 
Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
 2016-05-18 12:16:16 +10:00
Beat Küng 7f65e01d07 cmake: avoid GLOB for *.msg files and use an explicit .msg file enumeration 
This makes sure that adding & removing of .msg files is handled properly
by the build system.
 2016-05-17 09:08:13 +02:00
Beat Küng f6f47e3362 cmake topic_listener: make topic_listener.cpp depend on msg_gen 
This makes sure the .cpp file is regenerated on .msg file changes
 2016-05-17 09:08:13 +02:00
Pavel Kirienko a268845f1d Cleaned up UAVCAN ioctl codes 2016-05-17 08:56:02 +02:00
Roman eeb595d1db applied formatting 2016-05-17 08:27:35 +02:00
Paul Riseborough 57b2a256f7 EKF: Improve initialisation of quaternion covariances 
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
 2016-05-17 12:47:20 +10:00
Paul Riseborough a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough 88860d0307 EKF: Enable tuning for IMU switch on bias errors 2016-05-17 11:17:24 +10:00
Paul Riseborough 1540e937b1 EKF: Improve tilt alignment monitoring 
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
 2016-05-17 11:17:24 +10:00
Paul Riseborough 6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Jimmy Johnson bf6dff3e99 raising follow target filter responsiveness to tested value 2016-05-16 15:12:50 -07:00
Jimmy Johnson 8e3720ca9a adding clamp for yaw smoothing 2016-05-16 15:12:50 -07:00
Jimmy Johnson 59296e0a49 adding user parameters, simplifying dynamic gps filter, adding yaw smoothing 2016-05-16 15:12:50 -07:00
Jimmy Johnson bb79d14cb1 adding lpf based on confidence of linear movement 2016-05-16 15:12:50 -07:00
Jimmy Johnson 38b4278998 minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error 2016-05-16 15:11:57 -07:00
Jimmy Johnson 42e04d4c11 fixing travis CI build 2016-05-16 15:11:57 -07:00
Jimmy Johnson 55f023b771 adding params for offset, and side to track, fixing velocity tracking bug 2016-05-16 15:11:57 -07:00
Jimmy Johnson f5c90a2d64 adding new follow target parameter 2016-05-16 15:11:57 -07:00
Jimmy Johnson 94f3c50f83 follow target safety updates 2016-05-16 15:11:57 -07:00
Roman f4e2b21608 - better description for quaternion class 
- revert conversion functions to constructor
 2016-05-16 09:21:44 +02:00
Paul Riseborough d5046b078e Merge pull request #106 from PX4/pr-visionSupport 
EKF: add support for external vision data
 2016-05-16 07:32:46 +10:00
Andreas Bircher 81eacb0cfa removing body and intertial frame expressions and establishing consistency 2016-05-15 18:42:21 +02:00
Roman 4a405e7f60 make it clear that we are using right hand rotation convention 2016-05-15 18:42:21 +02:00
Roman 10c1b49bde fix typo 2016-05-15 18:42:21 +02:00
Roman 1033e145a5 fix some typos and better explanation of quaternion ordering 2016-05-15 18:42:21 +02:00