13f8d949bd
Merge pull request #305 from PX4/revert-303-pr-get_terr_valid
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Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:34:03 +10:00
c887b02f21
Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:33:48 +10:00
a59cf894d2
Merge pull request #303 from PX4/pr-get_terr_valid
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Split get_terrain_vert_pos() into valid and get_vpos
2017-07-17 17:29:20 +02:00
e429ecab17
check if terrain valid instead of initialized
2017-07-17 16:43:23 +02:00
eae0522dc2
split into get_terrain_valid and get_terrain_vert_pos
2017-07-17 16:42:42 +02:00
c42f820072
Merge pull request #295 from PX4/pr-rng_aid_hagl_hyst
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rng aid: use hysteresis with lower hagl check
2017-07-17 16:05:45 +02:00
517fe8a71f
rng aid: use hysteresis with lower hagl check
2017-07-17 13:36:51 +02:00
9da9aa632d
Merge pull request #298 from PX4/pr-fix_rng_offset
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init rng offset with ground clearance param when on ground to avoid n…
2017-07-17 13:33:10 +02:00
18e81eba31
Merge pull request #300 from nicolaerosia/ekf2-dt
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sensor_combined stores deltas in usec instead of seconds
2017-07-17 07:25:27 +10:00
5277141166
sensor_combined stores deltas in usec instead of seconds
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Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com >
2017-07-16 20:50:16 +03:00
e2a5e57e14
matlab: Update replay scripts
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Miscellaneous fixes and tuning changes.
Add plotting of Euler angle uncertainties.
2017-07-16 12:56:02 +10:00
8ed61ac052
init rng offset with ground clearance param when on ground to avoid noisy init
2017-07-13 17:43:19 +02:00
667517a9b6
Merge pull request #301 from PX4/pr-fix_hagl_valid
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return hagl valid false if update was rejected
2017-07-13 17:28:53 +02:00
d2945abd85
return hagl valid false if update was rejected
2017-07-13 14:17:48 +02:00
d69cc3d7c8
Merge pull request #293 from PX4/pr-fixExtVisionFallback
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EKF: Allow fallback to non-aiding mode if external vision fusion is lost
2017-07-13 20:45:24 +09:00
9ee35e38df
EKF: Don't fallback when optical flow is lost if external vision data is being used
2017-07-13 20:21:41 +09:00
1bb576c197
EKF: Allow fallback to non-aiding mode if external vision is lost.
2017-07-13 20:21:41 +09:00
7a17f74910
Merge pull request #297 from ursa-drone/vispos_fix
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Fixed vision position fusion bug
2017-07-12 22:15:54 +09:00
f96685267e
Fixed vision position fusion bug
2017-07-10 13:44:51 +10:00
ec2b54fde7
EKF: Ensure normal yaw alignment using mag is performed if GPS method is not
2017-07-08 11:13:40 +02:00
d446f66105
EKF: Add a fixed wing mode with setter function
2017-07-08 11:13:40 +02:00
f064915889
EKF: Enable planes to recover from bad mag data at start of flight
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Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
2017-07-08 11:13:40 +02:00
48a42dfb5b
Merge pull request #288 from PX4/pr-ekfDelVelBiasFix
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EKF: Improve protection against covariance instability in delta velocity bias states
2017-07-04 08:57:32 +10:00
929f205a00
EKF: Changes arising from code review
2017-07-04 08:12:15 +10:00
7b5f55303a
EKF: Prevent covariance instability in delta velocity bias state estimation
2017-07-03 21:04:07 +10:00
eb1e73ec81
Merge pull request #283 from PX4/ekf_matrix_cleanup
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EKF matrix typedef cleanup
2017-07-03 21:02:24 +10:00
ae118940b1
Merge pull request #292 from PX4/pr-use_baro_align
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use baro for the ekf alignment if range finder is primary height source
2017-07-03 20:31:16 +10:00
dfbc9de48e
Merge pull request #291 from PX4/pr-ekfWindEstBugFix
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EKF: Fix bug affecting wind estimation for planes
2017-07-01 11:06:58 +10:00
ed8fa16678
use baro for the ekf alignment if range finder is primary height source
2017-06-30 10:28:57 +02:00
73ef95b37f
Merge pull request #289 from PX4/pr-height_fixes
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Pr height fixes
2017-06-30 12:31:26 +10:00
59edccca4a
EKF: Fix bug in wind estimation for fixed wing
2017-06-30 10:32:54 +10:00
ba4a311771
EKF: Update comments for wind estimation logic
2017-06-30 10:32:23 +10:00
8e0cd1bc39
EKF: Add parameter to set initial and max allowed wind uncertainty
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This enables the initial uncertainty to be set based on application and also ensures that the max allowed growth in wind state variance is consistent with the initial uncertainty specified.
2017-06-30 10:31:16 +10:00
e1274ad28a
move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available
2017-06-29 17:07:58 +02:00
0d9e535acb
Use baro if reset to baro from gps and vice versa
2017-06-29 17:07:42 +02:00
4a4b0fa604
remove setting rng faulty in ev mode because not checked
2017-06-29 10:01:16 +02:00
066c641d61
range aid: switch to baro/gps even if rng aid conditions met and rng faulty
2017-06-29 09:47:02 +02:00
2f382c8e0e
if hgt mode is range, switch to baro if range is faulty
2017-06-29 09:47:02 +02:00
e4f36215cb
if in range aid mode, check faultiness that otherwise would never change back
2017-06-29 09:47:02 +02:00
e800de88b6
remove duplicate
2017-06-29 09:47:02 +02:00
42b2469a46
matlab: fix comment error in file conversion utility
2017-06-29 10:41:42 +10:00
70ece4df17
matlab: Add references for coning and skulling correction method
2017-06-28 15:27:59 +10:00
8ccc45b26b
matlab: Fix bug in replay plotting
2017-06-27 16:41:26 +10:00
3e99898d47
matlab: Update readme file for the replay and improve optical flow tuning
2017-06-26 15:23:30 +10:00
c1829d8e9a
matlab: fix bugs and add replay of PX4 optical flow test data
2017-06-26 14:48:03 +10:00
233c4b49c5
matlab: Add derivation of observation Jacobians used by the terrain estimator
2017-06-20 16:01:30 +10:00
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
9303db85eb
matlab: remove project specific code from mag cal comparison script
2017-06-17 17:35:07 +10:00
edeed770b7
matlab: fix alignment bugs
2017-06-17 11:46:36 +10:00
7f1cca5b28
Merge pull request #244 from PX4/pr-rangeAid
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Pr range aid
2017-06-16 17:47:21 +10:00
Paul Riseborough