Paul Riseborough
10354f022e
ekf2: Allow use of RTK GPS heading
2018-10-17 09:48:38 -04:00
Paul Riseborough
c2fcef8fc1
ekf2: Tighten preflight GPS quality checks
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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
Daniel Agar
bbe18ed5fd
EKF2_MAG_DECL move to system category
2018-08-03 16:48:49 +02:00
Daniel Agar
77751d4822
EKF2 set param EKF2_MAG_DECL volatile
2018-07-26 08:32:09 +02:00
Paul Riseborough
fc65939f0e
ekf2: Add support for use of multiple GPS receivers ( #9765 )
2018-07-22 12:18:30 -04:00
Paul Riseborough
c9ca27e7c2
ekf2: Update documentation for EKF2_RNG_AID parameter
2018-07-22 17:42:31 +10:00
Paul Riseborough
366e36a07b
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
Mohammed Kabir
6a9377846f
ekf2 : update to use new navigation limits architechture
2018-06-09 13:38:04 +02:00
Paul Riseborough
9e567cadd6
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
Paul Riseborough
477a42e6f6
ekf2: Enable adjustment of nav validity timeout
2018-04-24 00:02:48 -04:00
Paul Riseborough
fc78de4c26
ekf2: Update parameter descriptions for air data fusion
2018-01-29 22:30:34 +01:00
Paul Riseborough
f866698fb2
ekf2: Update parameter description for max optical flow rate
2018-01-29 22:30:34 +01:00
Nicolas de Palezieux
d9b9b4407a
ekf2 : add support for precision landing measurement fusion
2018-01-15 10:27:23 +01:00
Lorenz Meier
73348b6c4e
EKF2: Update param metadata
2018-01-08 09:27:22 +01:00
Lorenz Meier
ca0267b4e9
EKF: Add required flags to parameters
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This marks the learned bias parameters as volatile (as they change in flight without external configuration) and marks them as system level, which should hide them by default from the UI
2018-01-08 09:27:22 +01:00
CarlOlsson
925c65b4d5
ekf2: add beta innovation gate to parameters
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-12-21 04:02:10 +08:00
ChristophTobler
4bd7d62b5c
ekf2: update AID_MASK bitmask comment for QGC
2017-12-20 05:22:11 +08:00
Paul Riseborough
44a71ad6c9
ekf2: Update parameter descriptions ( #8292 )
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Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
2017-11-15 09:19:08 -05:00
Paul Riseborough
dbc3a13236
ekf2: remove unused parameter
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The logging of replay data is now controlled by the logging module
2017-10-09 08:58:01 +02:00
Paul Riseborough
6cfee65060
ekf2: Add parameters to tune accelerometer bias learning
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These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
2017-10-09 08:58:01 +02:00
Paul Riseborough
66277d0c02
ekf2: Added @reboot_required to parameters
2017-10-09 08:58:01 +02:00
Daniel Agar
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
Daniel Agar
3498fe0c6f
delete sdlog2 EKF2 replay ( #7982 )
2017-09-19 10:20:41 -04:00
Paul Riseborough
08059caf89
EKF: Enable compensation for static pressure positional error ( #7264 )
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* msg: add reporting of multi rotor drag fusion
* ekf2: add reporting of multi rotor drag fusion
* ekf2: Add parameters required to tune multi-rotor wind estimation
* ekf2: Add correction for static pressure position error
* ekf2: Use correct air density for position error corrections
* ekf2: fix parameter documentation error
* ekf2: Add separate forward and reverse position error correction factors
* ekf2: Fix formatting and parameter descriptions
* ekf2: Improve comments
2017-08-01 07:29:08 +10:00
ChristophTobler
03e11c4d18
update ecl and add param for innovation consistency checks for range aid fusion ( #7585 )
2017-07-19 18:25:12 +10:00
Paul Riseborough
d68dd6ae1e
ekf2: Fix parameter description typo
2017-06-21 09:28:42 +02:00
Paul Riseborough
b3ceb37272
ekf2: Add parameter to set range dependant noise
2017-06-21 09:28:42 +02:00
ChristophTobler
929ecd0e94
change to uint32 to match updated type from ecl
2017-06-21 09:28:42 +02:00
Roman
33495e8143
ekf2: added parameters to specify horizontal speed and absolute altitude
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thresholds for range aid mode
Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
Roman
68c2eb9dec
ekf2_params: added range aid parameter
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
Daniel Agar
833cdc9236
EKF2 update GPS and airspeed delay defaults ( #7353 )
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* update ecl to latest
* EKF2_GPS_DELAY change default 200ms -> 110ms
- 110msec is more representative of what most users are flying
* EKF2_ASP_DELAY change default 200ms -> 100ms
The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays.
2017-06-05 10:31:46 +10:00
Paul Riseborough
889fb30029
ekf2: Improve control of magnetometer bias learning
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Adds parameters so that the motion checks used to switch between magnetic yaw and 3-axis fusion can be adjusted.
Modifies the check used to determine if learned mag biases can be saved. A cumulated calibration time is used rather than continuous calibration time to allow for for switching in and out of 3-axis fusion mode that is required to do calibration.
2017-05-20 10:24:08 +02:00
Paul Riseborough
6474922224
ekf2: Save learned magnetometer biases
2017-05-03 08:37:14 +02:00
Roman
4bffb1478f
ekf2: added parameter for range sensor pitch offset
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-02-22 22:21:41 +01:00
Paul Riseborough
056ac3c9c6
EKF: Update default value for sideslip fusion noise
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Use value obtained from tuning on replay logs
2016-11-15 23:58:05 +01:00
Paul Riseborough
680a8f0b44
ekf2: fix rebase compile errors
2016-11-15 23:58:05 +01:00
CarlOlsson
72ad6627e1
updated beta noise
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Conflicts:
src/modules/ekf2/ekf2_params.c
2016-11-15 23:58:05 +01:00
CarlOlsson
f00f6e6eff
added parameter for when to fuse sideslip
2016-11-15 23:58:05 +01:00
Paul Riseborough
0ee75dbc6b
ekf2: Allow adjustment of min arrival time delta parameter
2016-11-08 11:17:07 +01:00
Paul Riseborough
865b6404ec
ekf2: reduce default output predictor time constant
2016-10-13 09:06:41 +02:00
Lorenz Meier
a130b6a65c
style cleanup
2016-08-15 19:53:21 +02:00
Daniel Agar
4252511b8e
add bitmask param metadata
2016-07-07 12:42:59 +02:00
CarlOlsson
9c170f7fae
added parameter which defines threshold for airspeed given to the filter
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remove unnecessary replay fields
2016-06-08 17:11:10 +02:00
Paul Riseborough
9e0ab5d266
ekf2: update height source parameter documentation
2016-05-28 14:54:14 +02:00
Paul Riseborough
ac50510c78
ekf2: Use parameter defined values for EV noise if vision system estimates not available
2016-05-28 14:54:14 +02:00
Paul Riseborough
57c1138d28
ekf2: add parameters for control of external vision fusion
2016-05-28 14:54:14 +02:00
Paul Riseborough
d4262bce2a
EKF2 output predictor update ( #4606 )
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* ekf2: Update tuning parameter documentation
* ecl: update submodule reference
Enables selection of a new output predictor method
2016-05-27 08:36:37 +02:00
Paul Riseborough
83cc9ef496
ekf2: Enable tuning of 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
3aa2297497
ekf2: Add parameters to control output filter
2016-05-14 11:24:41 +02:00
Paul Riseborough