Paul Riseborough
310bd97080
EKF: Improve protection against bad pos vel fusion
2016-05-07 14:22:59 +10:00
Paul Riseborough
da9d894441
EKF: Improvements to covariance reset
2016-05-07 12:57:41 +10:00
Daniel Agar
7b0078a20d
bosch bmi160 driver ( #4469 )
2016-05-06 21:07:34 +02:00
Lorenz Meier
755176b247
Sim compile fix
2016-05-06 19:22:18 +02:00
Lorenz Meier
ebaca071f6
Battery charge estimation: Factor in voltage drop for idle props
2016-05-06 18:14:34 +02:00
Lorenz Meier
48d7295be6
Default to a multicopter
2016-05-06 07:28:36 +02:00
Mark Charlebois
e2c3ea064e
Remove release configs ( #4454 )
...
* Removed release configs for eagle
These configs are only built for internal testing
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
* Removed release build for eagle from Makefile
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-05-06 07:18:57 +02:00
Lorenz Meier
7dbef87ca0
FW pos control: Reduce excessive stack ssize
2016-05-05 20:11:00 +02:00
Lorenz Meier
5e099d8d16
sensors: Reduce perf counters
2016-05-05 20:09:09 +02:00
Lorenz Meier
901461f301
FW att ctrl: Reduce perf counters
2016-05-05 20:08:54 +02:00
Lorenz Meier
34c7dea08c
EKF: Reduce perf counters
2016-05-05 20:08:43 +02:00
Lorenz Meier
dd774a60e3
IO driver: Reduce perf counters
2016-05-05 20:08:11 +02:00
Lorenz Meier
2e23d01b60
Systemlib: harden perf counter handling for null ptrs
2016-05-05 20:07:48 +02:00
Lorenz Meier
32e2998fe4
ROMFS: Further squeeze FMUv1 logging buffer
2016-05-05 20:07:20 +02:00
Lorenz Meier
e250d12184
Board drivers: Shorten perf names
2016-05-05 20:06:42 +02:00
Lorenz Meier
1840d2287c
Update ECL to reduce perf counter usage
2016-05-05 20:06:23 +02:00
Lorenz Meier
199c423f1f
Attitude fw: Remove builtin perf counters
2016-05-05 20:06:01 +02:00
Lorenz Meier
ae75ba26b7
MAVLink: Remove excessive stack
2016-05-05 19:36:39 +02:00
Lorenz Meier
986145ac23
ROMFS: Free flash by being less verbose
2016-05-05 19:36:28 +02:00
Lorenz Meier
29550a4cee
Strip LPE config, as it has become part of the default config
2016-05-05 18:23:33 +02:00
Lorenz Meier
639a589233
Fix RTL abort detection on stick change
2016-05-05 16:55:04 +02:00
Lorenz Meier
bbd2b763a3
Fix battery charge level filter
2016-05-05 16:13:58 +02:00
Julian Oes
6c61b67fd5
shmem: fix eagle build
2016-05-05 14:28:35 +02:00
Julian Oes
bdaa1b58f6
uart_esc: fix eagle build
2016-05-05 14:28:20 +02:00
Lorenz Meier
2801a54544
Snapdragon param build fix
2016-05-05 14:15:25 +02:00
Lorenz Meier
34ba80ea9d
Remove attributes warning for Snapdragon
2016-05-05 14:09:18 +02:00
Lorenz Meier
192510ee1c
FMUv4 compile fix
2016-05-05 14:09:03 +02:00
Lorenz Meier
084dfb4026
Fix Snapdragon no-packed
2016-05-05 14:02:31 +02:00
Lorenz Meier
1e7f19335d
Build: Less verbose
2016-05-05 13:37:02 +02:00
Daniel Agar
7aa6e85563
enable Wshadow
2016-05-05 13:32:42 +02:00
Paul Riseborough
d9aeace6ac
EKF: tuning update
2016-05-05 21:23:03 +10:00
Paul Riseborough
f1b7e7714e
EKF: Make average update rate of EKF closer to target
...
With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
2016-05-05 21:23:03 +10:00
Paul Riseborough
1daa6c7866
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
Paul Riseborough
fc6c0c7ebf
EKF: Update covariance prediction
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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
2016-05-05 21:23:03 +10:00
Paul Riseborough
ecaffe63af
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
Paul Riseborough
7a74d58591
EKF: reduce initial accel bias uncertainty
2016-05-05 21:23:03 +10:00
Paul Riseborough
a7d08d08fc
EKF: Relax tilt alignment check
2016-05-05 21:23:03 +10:00
Paul Riseborough
5523a4f225
EKF: Fix IMU bias compensation scale error in output filter
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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
2016-05-05 21:23:03 +10:00
Paul Riseborough
fd109b00ab
EKF: replace in-line code with existing function
2016-05-05 21:23:03 +10:00
Paul Riseborough
727a43764f
EKF: update initial angle alignment check
2016-05-05 21:23:03 +10:00
Paul Riseborough
bc34b14779
EKF: Initialise height state variance to a value compatible with the measurement
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A large height state variance and small measurement variance can destabilise the filter in the first few seconds after alignment
2016-05-05 21:23:03 +10:00
Paul Riseborough
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
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This also makes the tuning less sensitive to changes in the EKF update rate.
2016-05-05 21:23:03 +10:00
Paul Riseborough
799865c934
EKF: update default tuning parameters
2016-05-05 21:23:03 +10:00
Paul Riseborough
f01f4ae4b1
EKF: tidy up mag declination fusion
2016-05-05 21:23:03 +10:00
Paul Riseborough
0d31aad33a
EKF: Fix bad limit on magnetometer noise parameter
2016-05-05 21:23:03 +10:00
Paul Riseborough
7069fb7a04
EKF: refresh auto code for mag fusion
2016-05-05 21:23:03 +10:00
Paul Riseborough
ffea65e1a4
EKF: fix bug in state prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough
63f093a10a
EKF: Update upper limits for state variances
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This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough
26a51c667d
EKF: Improve robustness to initial gyro bias errors
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Allows for ~6 deg/sec of startup bias
2016-05-05 21:23:03 +10:00
Paul Riseborough
7530e30012
EKF: Improve IMU data collection
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Use IMU driver published delta angle integration time to determine when enough data has been accumulated.
Perform basic first order sculling corrections on delta velocity data
Comment steps to make make method clearer
2016-05-05 21:23:03 +10:00
Paul Riseborough