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
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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
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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"
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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
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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
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EKF: Improved tilt alignment control
2016-05-18 12:34:22 +10:00
Paul Riseborough
e4b2e9c93d
EKF: Improve yaw alignment
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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
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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
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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
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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
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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
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- revert conversion functions to constructor
2016-05-16 09:21:44 +02:00
Paul Riseborough
d5046b078e
Merge pull request #106 from PX4/pr-visionSupport
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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
Roman
2b3bdb523d
better description for quaternion class
2016-05-15 18:42:21 +02:00
Roman
3152d3d6cf
better function descriptions for rotation classes:
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- do not talk specifically about body or earth frame, just use frame 1 and frame 2
2016-05-15 18:42:21 +02:00
Andreas Bircher
e3a1d67444
adding detailed comments on rotation classes
2016-05-15 18:42:21 +02:00
Andreas Bircher
af2e6d952e
correcting comments
2016-05-15 18:42:21 +02:00
Andreas Bircher
34e6e2a941
refactoring rotation classes and adding initial description
2016-05-15 18:42:21 +02:00
Lorenz Meier
f3ee22b22c
Battery lib: Set valid flag
2016-05-15 15:38:20 +02:00
Lorenz Meier
55c879a0ab
MAVLink: Use valid flag to initialize fields
2016-05-15 15:38:01 +02:00
Lorenz Meier
7633797190
Battery status: Add valid flag
2016-05-15 15:37:46 +02:00
Lorenz Meier
41b127d405
Make IO RSSI handling as robust and informative as on FMU
2016-05-15 14:32:06 +02:00
Lorenz Meier
65e079f8cd
Startup: Boot system with sdlog starting sooner
2016-05-15 14:28:19 +02:00
Lorenz Meier
69f702fb6a
MAVLink: Remove unused function definitions
2016-05-15 14:27:59 +02:00
Paul Riseborough
c955bfbf93
EKF: fix previous merge error
2016-05-15 20:36:51 +10:00
Lorenz Meier
237bdfdb61
EKF: Be less verbose, avoid floating ng point printing stack smashing
2016-05-14 18:22:34 +02:00
Lorenz Meier
06fec2bce0
IO driver: Fix PWM load
2016-05-14 18:05:24 +02:00
Lorenz Meier
91142f0c20
PWM cmd: better reporting
2016-05-14 18:05:14 +02:00
Paul Riseborough