0f346af226
ekf2: Improve parameter description
...
Inhibiting bias estimation using the EKF2_AID_MASK parameter only applies to the delta velocity bias states.
2019-04-24 06:55:54 +02:00
986c1a37d1
Parameter update - Rename variables in modules/ekf2
...
using parameter_update.py followed by a make format
2019-04-03 15:38:50 +02:00
b3bb625c71
add parameter to set ground effect distance
2019-03-21 10:07:12 +01:00
04a486f13d
enable ground effect zone when land detector is updated
2019-03-21 10:07:12 +01:00
0c24aa6149
enable ground effect zone when valid terrain estimate is available
2019-03-21 10:07:12 +01:00
aa36fa2dfd
replace camel case by snake case.
...
Co-Authored-By: EliaTarasov <elias.tarasov@gmail.com >
2019-03-21 10:07:12 +01:00
84d9820baa
remove EKF2_GND_EFF_EN flag and use condition EKF2_GND_EFF_DZ > 0 instead
2019-03-21 10:07:12 +01:00
5fa0a647e5
add parameter to enable/disable ground effect zone
2019-03-21 10:07:12 +01:00
ecc8a696d0
added ground effect reporting to land detector
...
Signed-off-by: Roman <bapstroman@gmail.com >
2019-03-21 10:07:12 +01:00
f8ae8ba502
ekf2: Use ecl library with recent bug fixes and enhancements.
...
Bug Fixes:
https://github.com/PX4/ecl/pull/586 - EKF: fix covariance and output filter buffer initialization
https://github.com/PX4/ecl/pull/590 - EKF: Fix innovation in fuseDeclination()
Enhancements:
https://github.com/PX4/ecl/pull/543 - ekf_helper: add more useful methods to interface with the covariances
https://github.com/PX4/ecl/pull/588 - Add unit tests for DataValidator
Note:
https://github.com/PX4/ecl/pull/543 has required a change to how the state variances are accessed .
2019-03-14 19:25:36 +11:00
beca16fa37
ekf2 update setGpsData usage
2019-03-05 23:28:26 -05:00
6e0ca90852
ekf2: Minor parameter description edits
2019-03-05 07:17:09 +01:00
643d8e968b
ekf2: style fixes
2019-03-05 07:17:09 +01:00
09da8e7dfc
ekf2: Split static pressure correction into separate RH ad LH ellipsoids
2019-03-05 07:17:09 +01:00
4dc1503122
Fix link to EKF tuning page
2019-02-19 08:05:39 +01:00
07fbd2202a
EKF2 use simplified ecl/EKF setIMUData
2019-02-06 20:20:51 -05:00
ddc9522712
EKF2 always use IMU timestamp as now
2019-02-06 20:20:51 -05:00
60f2a92e3d
replace <cfloat> with <float.h>
...
- <cfloat> isn't available in the NuttX c++ library
2019-01-06 19:20:57 -05:00
5b9dea5604
Replacing usleep with px4_usleep
...
This is a step towards isolating time from the system.
2018-12-22 10:32:18 +01:00
cfd1be584e
Feature: VIO: add ODOMETRY stream ( #11084 )
...
* mavlink_messages: remove LOCAL_POSITION_NED_COV stream
* mavlink_messages.cpp: add ODOMETRY stream
* add MAV_ODOM_LP parameter to activate odometry loopback
* EKF2: add vehicle_odometry publisher
* Replace VISION_POSITION_ESTIMATE loopback with ODOMETRY
* LPE: add vehicle_odometry publisher
* set vehicle_odometry local_frame field
* mavlink_messages.cpp: ODOMETRY frame_id depends on MAV_ODOM_LP
2018-12-21 12:54:04 -05:00
30dbfd99fb
EKF: Estimate WGS84 altitude with filtered AMSL offset
2018-11-22 16:55:30 +01:00
b85710b194
ekf2: fix typo
2018-10-22 09:26:06 -04:00
7b0e0de43c
ekf2: fix typo
2018-10-22 09:26:06 -04:00
6647471238
ekf2: increase maximum of EKF2_MAG_YAWLIM. This is needed on some fw platforms
...
in order to not constantly switch mag fusion mode in gusty winds.
2018-10-22 09:26:06 -04:00
10354f022e
ekf2: Allow use of RTK GPS heading
2018-10-17 09:48:38 -04:00
23094b9ac9
ekf2: subscribe only to 2 gps topic instances
2018-10-02 14:14:10 +02:00
72f85e4b2d
ekf2: Handle blending of dissimilar rate GPS data ( #10570 )
...
A filtered update update interval is calculated for each receiver.
If dissimilar interval data is detected, blending occurs when data is received from the slower of the receivers.
If similar interval data is detected, blending occurs when receiver data with similar time stamps is available.
If no data is received from either receiver for longer than 300msec, then no blending will be performed and the most recent data will be used instead.
2018-09-29 09:23:19 -04:00
0784725ad3
ekf2: only report gps failure flags that are enabled
...
So that they can be used for reporting errors.
2018-09-29 09:17:53 -04:00
f0c231778f
fix format
2018-09-18 09:52:33 +02:00
9566804f8c
fix small typo on PX4_ISFINITE covariance verification
2018-09-18 09:52:33 +02:00
cc73f214d1
add covariance matrices index aliases
2018-09-18 09:52:33 +02:00
8325724079
general fixes on VIO data access
2018-09-18 09:52:33 +02:00
7d7ee8e4bf
small rebase fix
2018-09-18 09:52:33 +02:00
607be6791c
ekf2: use fmaxf instead of fmax
2018-09-18 09:52:33 +02:00
efe312d4a6
style and format clean
2018-09-18 09:52:33 +02:00
183a63cce9
purge vehicle_vision_position alias
2018-09-18 09:52:33 +02:00
8f23a073a4
ekf2: add vehicle_odometry usage and data validation check; update replay as well
2018-09-18 09:52:33 +02:00
7691990a50
Pass through horizontal and vertial covariances
2018-09-16 21:30:20 -04:00
c2fcef8fc1
ekf2: Tighten preflight GPS quality checks
...
Enable drift checks and reduce thresholds to reduce likelihood of commencing use of a unstable GPS position.
Publish drift data to assist with tuning.
2018-08-17 10:44:07 +10:00
e4485fc8cf
ekf2 replay: use correct timestamp for attitude publication
2018-08-06 07:15:51 +02:00
0626527d2c
EKF2 estimator_status fill n_states and use correct type for health_flags and timeout_flags
2018-08-03 17:42:48 -04:00
da68ea0d11
estimator_status delete unused nan_flags
2018-08-03 17:42:48 -04:00
bbe18ed5fd
EKF2_MAG_DECL move to system category
2018-08-03 16:48:49 +02:00
92ff391c97
ekf2 fix GPS fix_type comparison
...
- fixes Coverity CID 306253
2018-08-02 07:46:43 +10:00
77751d4822
EKF2 set param EKF2_MAG_DECL volatile
2018-07-26 08:32:09 +02:00
77f0883cb9
ekf2: Reinstate saving of mag declination for use next start
...
This capability was removed unintentionally by previous changes.
Requires ecl version with updated declination accessor function
2018-07-26 08:32:09 +02:00
fc65939f0e
ekf2: Add support for use of multiple GPS receivers ( #9765 )
2018-07-22 12:18:30 -04:00
c9ca27e7c2
ekf2: Update documentation for EKF2_RNG_AID parameter
2018-07-22 17:42:31 +10:00
4e3f7bdcc6
ekf2: Move range min/max checks to inside the ecl library
2018-07-16 21:59:04 +10:00
da2fbf60b5
distance sensors: Improve variable naming / description
2018-07-16 21:59:04 +10:00
Paul Riseborough