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pr-standard_vtol_ctrlalloc-fix
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Author SHA1 Message Date
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
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
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
Lorenz Meier b2a223eaab Move logging to main rcS to save RAM 2016-05-14 17:21:46 +02:00
Paul Riseborough b8b05b1b4b ecl: update submodule reference 
Fixes error in calculation of observation variance used by terrain estimator.
 2016-05-14 22:02:13 +10:00
Paul Riseborough 920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough 13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough 59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00
Paul Riseborough 172f4be594 EKF: Fix bug in calculation of terrain observation variance 2016-05-14 21:17:29 +10:00
Paul Riseborough b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough f4a0f69f6e EKF: print to console when starting EV fusion 2016-05-14 21:17:29 +10:00
Paul Riseborough 349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
Paul Riseborough ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
devbharat cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00
devbharat d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
devbharat 6d20a426e0 Reset time_last_ext_vision 2016-05-14 21:17:29 +10:00
devbharat b681c9a5d0 Added external vision noise parameters etc and position offset 2016-05-14 21:17:29 +10:00
devbharat ff8f03b5dd Added compensation for VI sensor offset. Check sign. 2016-05-14 21:17:29 +10:00
Paul Riseborough e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough 37a09c61bc EKF: Don't use delayed data to start EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 25f1d1d766 EKF: Add fusion of external vision 3D pos data 2016-05-14 21:17:29 +10:00
Paul Riseborough 81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
CarlOlsson ee33f21303 added airspeed to ekf2 replay 2016-05-14 11:32:11 +02:00
Beat Küng 6a07d61671 parameter source parser: validate length of parameter name (limited to 16) 2016-05-14 11:29:24 +02:00
Daniel Agar 97bcea292e logger.cpp fix style 2016-05-14 11:27:07 +02:00
Daniel Agar c57bc26d5b fully restore px4fmu-v2_lpe 2016-05-14 11:27:07 +02:00