bugobliterator
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
bugobliterator
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
bugobliterator
e65c348905
EKF: add travis build
2016-02-17 18:51:40 -08:00
bugobliterator
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
Siddharth Bharat Purohit
64a7b14171
update readme to include steps to build EKF shared object
2016-02-17 17:46:48 -08:00
bugobliterator
cba5271785
add matrix submodule
2016-02-17 17:38:21 -08:00
bugobliterator
2f05f778de
ignore build directory
2016-02-17 17:34:28 -08:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
Paul Riseborough
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
Roman Bapst
678d6f45cc
Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix
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EKF: fix time of sample receive setting
2016-02-17 22:34:30 +01:00
bugobliterator
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
Lorenz Meier
f10770a4a4
FW pos ctrl: Fix build error
2016-02-17 19:31:01 +01:00
Lorenz Meier
bd606b05df
Launch detector: Use idle throttle param
2016-02-17 19:31:01 +01:00
Lorenz Meier
e98cd6c746
FW pos control: Set idle throttle on ground in all modes
2016-02-17 19:31:01 +01:00
Mark Whitehorn
d5d3b63dc8
delete parameter MPC_HOLD_Z_DZ
2016-02-17 15:23:16 +01:00
Mark Whitehorn
8cd4b57c6b
add parameters for adjusting ALTCTL deadband
2016-02-17 15:22:28 +01:00
Mark Whitehorn
ead3eeda6c
expand description of MPC_THR_HOVER parameter
2016-02-17 15:22:28 +01:00
Mark Whitehorn
5de7c7e426
zero altctl deadband
2016-02-17 15:22:28 +01:00
Mark Whitehorn
159abb9b00
add parameter for hover throttle setting
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and tighten z deadband
2016-02-17 15:22:28 +01:00
Mark Whitehorn
101ac63737
change altctl throttle deadband to 2 point curve
2016-02-17 15:21:37 +01:00
Andreas Antener
770c020117
removed lower default from vtol config, added flight tested Fun Cub parameters
2016-02-17 10:49:28 +01:00
suiauthon
8abfd18189
uncommented osDelay
2016-02-17 09:51:50 +01:00
suiauthon
6b30772353
removed unnecessary comment
2016-02-17 09:49:25 +01:00
suiauthon
ee6ae3ec95
added new method that yield from ISR after semaphore is given from ISR
2016-02-17 09:46:36 +01:00
sander
03e71c47b6
New params for QuadRanger
2016-02-17 09:00:38 +01:00
stmoon
fb131f43c3
fix the bug ( error: array subscript is above array bounds [-Werror=array-bounds] )
2016-02-17 08:47:03 +01:00
Paul Riseborough
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
2016-02-17 17:22:02 +11:00
Roman
2a556f91ed
added autoconfig gains for caipiroshka
2016-02-16 22:57:09 +01:00
James Goppert
f9a11b7a2f
Merge pull request #3779 from jgoppert/matrix_update
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Updated matrix lib to get slice.
2016-02-16 16:28:05 -05:00
James Goppert
30cb1e6976
Updated matrix lib to get slice.
2016-02-16 14:59:18 -05:00
James Goppert
95e3d7d6ce
Added set function.
2016-02-16 14:54:15 -05:00
Lorenz Meier
a85939f66b
Merge pull request #3780 from kd0aij/frsky_stack
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increase stack size for frsky telemetry daemon
2016-02-16 19:22:29 +01:00
Mark Whitehorn
12437f1fc6
increase stack size for frsky telemetry daemon
2016-02-16 10:39:30 -07:00
James Goppert
5a01e6c939
Added slice function for matrix.
2016-02-16 12:22:08 -05:00
James Goppert
a2de2bb9cb
Merge pull request #3777 from jgoppert/matrix-update
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Updated matrix lib.
2016-02-16 11:35:41 -05:00
James Goppert
59781167a2
Updated matrix lib.
2016-02-16 10:58:39 -05:00
James Goppert
1ae114b3d2
Improved rk4 integration to allow longer time interval than 1 step.
2016-02-16 10:53:12 -05:00
Andreas Antener
48e2053f98
fixed code style
2016-02-16 10:26:13 +01:00
Roman
f11a619bf8
multirotor landing:
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prevent sudden thrust setpoints when vehicle has reached ground
after landing
2016-02-16 10:26:13 +01:00
Paul Riseborough
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
Paul Riseborough
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
Paul Riseborough
294aca8609
EKF: Improve variance limiting for stationary states
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Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
2016-02-16 11:08:30 +11:00
Paul Riseborough
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
Paul Riseborough
69b8982043
EKF: Initialise variances to zero for un-used states
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Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
2016-02-16 11:08:30 +11:00
Paul Riseborough
d9bf4e9870
EKF: Enable control mode transitions to be detected
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Save the previous value of the filter control modes
2016-02-16 11:08:30 +11:00
Paul Riseborough
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
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This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
Paul Riseborough
d8afca5e7a
EKF derivations: Correct error in direct yaw and declination angle fusion
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The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
2016-02-16 11:08:30 +11:00
Paul Riseborough
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
Andreas Antener
570fb97163
updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly
2016-02-15 23:29:47 +01:00
Andreas Antener
eb5b8a32ee
transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem
2016-02-15 23:29:38 +01:00
bugobliterator