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Author SHA1 Message Date
Julian Oes
07ecffc963 cmake: another try to get the module path right 2016-05-10 17:59:01 +02:00
Julian Oes
001433c660 cmake: debug output for path 2016-05-10 17:59:01 +02:00
Julian Oes
d242bb78b9 cmake: try to provide path to FindEigen3 2016-05-10 17:59:01 +02:00
Julian Oes
dcd191d734 cmake: include FindEIgen3.cmake for older cmake 2016-05-10 17:59:01 +02:00
Julian Oes
798cdfe675 build.sh: if cmake fails, don't continue with make 2016-05-10 17:59:01 +02:00
Julian Oes
37b73c7d85 README: updated build instructions, prerequisites 2016-05-10 17:59:01 +02:00
Julian Oes
fc47684942 build.sh: get path right for travis build 2016-05-10 17:59:01 +02:00
Julian Oes
54e62f1495 travis: just use libeigen3-dev 2016-05-10 17:59:01 +02:00
Julian Oes
3d28f7ecca CMakeLists: use find_package Eigen3 
Instead of hardcoding the Eigen3 path which only works on Mac, use
find_package(Eigen3).
 2016-05-10 17:59:01 +02:00
Paul Riseborough
e91a934f07 Merge pull request #124 from PX4/pr-removeVehicleArmStatus 
Remove reliance on vehicle arm status
 2016-05-10 10:54:32 +10:00
Paul Riseborough
1a24ec5f50 EKF: remove unused flag from control status message 2016-05-10 10:45:06 +10:00
Paul Riseborough
481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough
3cdf56e57c Merge pull request #122 from CarlOlsson/airspeed_fix 
fixed_airspeed_healthy_bug
 2016-05-09 10:24:22 +10:00
Paul Riseborough
e06c0f41d7 Merge pull request #117 from PX4/ekf2AccuracyImprovement 
EKF: Accuracy Improvements
 2016-05-09 09:24:44 +10:00
CarlOlsson
ee7d7aeb8a fixed_airspeed_healthy_bug 2016-05-08 18:30:37 +02:00
Paul Riseborough
175723f690 EKF: Allow for larger accel bias offsets on startup 2016-05-08 18:03:58 +10:00
Paul Riseborough
161ac2e051 EKF: ensure position co-variances are reset 
When transitioning into optical flow nav  from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
 2016-05-08 18:03:09 +10:00
Paul Riseborough
feb4db6347 EKF: protect against large IMU errors during initial tilt alignment 
Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
 2016-05-08 17:54:45 +10:00
Paul Riseborough
00973d6215 EKF: fix pos/vel fusion innovation variance bug 2016-05-08 17:51:47 +10:00
Paul Riseborough
2144a40a3c EKF: redefine accelerometer bias state inhibit switch bit location 2016-05-08 16:03:21 +10:00
Paul Riseborough
724280fd1f EKF: move calculation of optical flow observation variance into a function 
Allows it to be used when calculating initial state variance
 2016-05-08 15:40:06 +10:00
Paul Riseborough
25682dce91 EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow 2016-05-08 10:30:40 +10:00
Paul Riseborough
c66ed7b662 EKF: Add interface method for filter fault status 2016-05-07 21:18:00 +10:00
Paul Riseborough
020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +10:00
Paul Riseborough
7f5669fb2d EKF: consolidate covariance corrections 
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
 2016-05-07 20:29:50 +10:00
Paul Riseborough
0c6a367e1b EKF: fix Travis build error 2016-05-07 17:45:49 +10:00
Paul Riseborough
22f0f52bf1 EKF: fix travis build error 2016-05-07 17:06:45 +10:00
Paul Riseborough
9e53ff2f80 EKF: Improve protection against bad optical flow fusion 2016-05-07 14:23:56 +10:00
Paul Riseborough
1126048a93 EKF: Improve protection against bad airspeed fusion 2016-05-07 14:23:38 +10:00
Paul Riseborough
c8d95586e7 EKF: Improve protection against bad magnetometer fusion 2016-05-07 14:23:20 +10:00
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
Lorenz Meier
199c423f1f Attitude fw: Remove builtin perf counters 2016-05-05 20:06:01 +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 
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 
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 
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 
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