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pr-ekf2_range_testing_hacks
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Author SHA1 Message Date
Paul Riseborough e0fcce1463 EKF: Make position and velocity reset publish success 
Some users of the position and velocity reset functions will need to know if the reset has been successful.
 2016-03-11 11:03:43 +11:00
Paul Riseborough 48f980b054 EKF: Fix syntax causing posix build to fail 2016-03-11 11:03:43 +11:00
Paul Riseborough eab0ef4266 EKF: Update default process noise for terrain estimator 2016-03-11 11:03:43 +11:00
Paul Riseborough 962fd0aaf2 EKF: Adjust terrain process noise for gradient effect 2016-03-11 11:03:43 +11:00
Paul Riseborough 1a2da887ab EKF: Fix bug in calculation of terrain estimator Kalman gain 2016-03-11 11:03:43 +11:00
Paul Riseborough cc5512905a EKF: prevent optical flow, GPS and baro fusion from blocking each other 2016-03-11 11:03:43 +11:00
Paul Riseborough e9ccfdd484 EKF: Update derivation scripts and outputs 
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
 2016-03-11 11:03:43 +11:00
Paul Riseborough ffebaf384f EKF: Set initial optical flow fusion monitor outputs to zero 2016-03-11 11:03:43 +11:00
Paul Riseborough 5acd1cbac4 EKF: Make definitions of parameters clearer for external use 2016-03-11 11:03:43 +11:00
Paul Riseborough dd1d58bab5 EKF: Remove unnecessary matrix operations from optical flow fusion 
The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
 2016-03-11 11:03:43 +11:00
Paul Riseborough b3b0f1347a EKF: Make normal GPS mode the default 2016-03-11 11:03:43 +11:00
Paul Riseborough d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough 836fe39070 EKF: Update external interface functions to support optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough 2ff338048d EKF: Add support for range-finder fusion as primary height reference 2016-03-11 11:03:43 +11:00
Paul Riseborough 2c2850c0ce EKF: Add functions to get position and velocity state variance 2016-03-11 11:03:43 +11:00
Paul Riseborough 32b03819ef EKF: Add function to calculate global position validity 2016-03-11 11:03:43 +11:00
Paul Riseborough 270451e17b EKF: Update height reset to support range finder height use 2016-03-11 11:03:43 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough 75b22c95ac EKF: Add new source files to cmake 2016-03-11 11:03:43 +11:00
Paul Riseborough 122dd9c531 EKF: Add source file for optical flow LOS rate fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough 82cbfafb34 EKF: Add source file for terrain vertical position estimator 
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
 2016-03-11 11:03:43 +11:00
Paul Riseborough 829e0f1e65 Merge pull request #73 from mcsauder/master 
Conversion error correction and additional function overloads to allow standalone compilation.
 2016-03-11 11:02:32 +11:00
Julian Oes 881a2a5860 param_shmem: make all params used 
This is a workaround for the fact that the used information is not
shared between the ADSP and the Linux side on the Snapdragon. By
flagging all params used, we can at least receive them on QGC.
 2016-03-10 22:26:31 +01:00
Andreas Antener 55e1259f59 prevent vtol from entering ACRO (temporary) 2016-03-10 21:43:47 +01:00
Lorenz Meier ceeedd739f Fix UART formatting 2016-03-10 19:18:24 +01:00
tumbili 030b544dd7 removed UART read experiment for now 2016-03-10 17:06:01 +01:00
tumbili e80fb86b42 uart_esc: made sending motor commands to pixhawk work 
- experimented with reading rc data from uart but this fails
- mixer loading works
 2016-03-10 16:41:48 +01:00
tumbili 3867e7709d added uart_esc app to dsp startup script, this will output 
serial data on the snapdragon ESC connector (J13)
 2016-03-10 16:31:51 +01:00
tumbili 8463dddb8c strip comments from quad x mixer file because else it fails to load on Snapdragon 2016-03-10 16:31:34 +01:00
Lorenz Meier 7e086a2a04 UART ESC: Fix syntax 2016-03-10 10:09:23 +01:00
Lorenz Meier 4fb97de4e4 Enable UART ESC driver in QuRT 2016-03-10 10:02:55 +01:00
Lorenz Meier 5d35dc4331 Re-introduce UART ESC driver 2016-03-10 10:02:36 +01:00
Lorenz Meier 6b89ce0b7f Fix decimal places in att control params 2016-03-10 09:15:49 +01:00
Julian Oes 9aab96a4e5 DriverFramework: update submodule 
This should fix includes, as well as the gyro scaling.
 2016-03-09 14:48:20 -08:00
Julian Oes ef8d074e23 shmem_qurt: remove leftover printf 2016-03-09 11:10:19 -08:00
Julian Oes 022ced3648 shmem: don't do locking for now 
The locking seems to be broken, therefore refrain from using it.
 2016-03-09 11:07:34 -08:00
Julian Oes 070e71ed55 px4_layer: astyle 2016-03-09 09:53:27 -08:00
Julian Oes 8b19d249b2 px4_layer: better printfs for shmem_posix.c 2016-03-09 09:53:27 -08:00
Julian Oes f2b906d7af posix-configs: start mavlink on mainapp 2016-03-09 09:53:27 -08:00
Julian Oes 3e964ef85d POSIX config: param shem define was lost 2016-03-09 09:53:27 -08:00
MaEtUgR 4f29c7c4db switch the modules implementing the block structure to px4_poll such that in posix_sitl simulation the poll works as expected, blocks the module and doesn't overload the CPU 2016-03-09 09:38:32 +01:00
James Goppert 613ec40d86 LPE: comment out gps delay handling, too much memory required. 2016-03-08 11:48:20 -05:00
James Goppert d37ddb6102 Work on LPE GPS delay. 2016-03-08 09:38:31 -05:00
James Goppert ac66050cd6 LPE tuning for GPS delay in sim. 2016-03-08 08:56:33 -05:00
James Goppert 12489654ea GPS delay compensation for LPE. 2016-03-08 08:23:02 -05:00
James Goppert 02454d0cdc Improved controllib delay block. 2016-03-08 07:28:36 -05:00
James Goppert 5c09c8ede7 Add delay block to controllib. 2016-03-08 06:08:30 -05:00
James Goppert c677d446d3 LPE SITL script updates. 2016-03-08 05:07:27 -05:00
James Goppert 078628e74f Merge pull request #3748 from jgoppert/lpe-improvements 
improved position based flow correction for lpe
 2016-03-08 04:06:56 -05:00
James Goppert baed2c0255 Updated lpe. 2016-03-08 03:47:12 -05:00