Julian Oes
1f44fb1efd
commander: internalize system status bools
...
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
Paul Riseborough
e66a3bd99f
ekf2: incorporate fixes to covariance prediction and initialisation
...
Update ecl library reference.
Update default parameters
2016-04-05 19:08:39 -07:00
CarlOlsson
16dea15d54
AStyle
2016-04-05 16:23:26 -07:00
CarlOlsson
7c88d599ee
publish wind_estimate topic
2016-04-05 16:23:25 -07:00
tumbili
08be5b3f3a
fixed formatting
2016-04-01 13:54:47 +02:00
tumbili
4da93a316d
ekf2 replay logic:
...
support recent change in ekf2 module which made it only publish the output
when an ekf update was occuring. in case the ekf2 module does not update
the replay module will be informed and will thus not wait for an update
but continue preparing the next sample of sensor data
2016-04-01 13:54:46 +02:00
tumbili
2f48317a9e
ekf2: publish indicated airspeed in control state topic
2016-03-31 14:03:42 +02:00
CarlOlsson
3af01a8c5e
adopted ekf2_main.cpp
2016-03-30 17:33:37 +02:00
Julian Oes
bba0d0384d
drivers/modules: changes after mavlink_log change
...
The mavlink_log API changes lead to changes in all drivers/modules using
it.
2016-03-24 13:10:02 +01:00
Paul Riseborough
75ebdda179
ekf2: Improved publishing rules
...
If the ekf has not completed alignment or encounters a serious error that produces NaN's on the attitude states, then the control, attitude and position topics are not published
The control topic is published first to reduce latency
2016-03-19 19:07:23 +04:00
MaEtUgR
d1e0cbe325
fixing all "argc < 1" to avoid segmentation fault when calling the module with no parameters
...
argc is never smaller than one because the first element of the array is the program name!
2016-03-13 17:52:33 +01:00
Paul Riseborough
c037b30aeb
ekf2: add missing GPS status data to ekf2 replay
2016-03-13 17:47:56 +01:00
Roman
8e1b824ecb
ekf2 app: only copy flow and range into replay message if they updated
2016-03-13 17:47:56 +01:00
Roman
181a5fd60d
ekf2 app: only publish gps in replay if updated
2016-03-13 17:47:56 +01:00
Paul Riseborough
b1f656c4b8
ekf2: Add optical flow and range finder data to ekf2 replay logging
2016-03-13 17:47:56 +01:00
Paul Riseborough
1ca857404f
ekf2: Enable tuning of terrain estimator
2016-03-13 17:47:56 +01:00
Paul Riseborough
735f2942c8
ekf2: Enable tuning of range finder and optical flow fusion parameters
2016-03-13 17:47:56 +01:00
Paul Riseborough
dcb47e425d
ekf2: Add local position ground clearance reporting
2016-03-13 17:47:56 +01:00
Paul Riseborough
e540315da8
ekf2: Publish height above ground fusion data
2016-03-13 17:47:56 +01:00
Roman
5abd11c6b9
fixed rebasing issues
2016-03-13 17:47:56 +01:00
bugobliterator
01ee608117
sdlog: setup flow innovation logging
2016-03-13 17:47:56 +01:00
bugobliterator
e2901a7c2f
ekf2: use yaw estimation of ekf for local position yaw value
2016-03-13 17:47:56 +01:00
bugobliterator
d33dbb8cbb
ekf2: use estimator's estimate of variance for standard deviation calculation
2016-03-13 17:47:56 +01:00
bugobliterator
c02d17f56e
ekf2: calculate dist from bottom values
2016-03-13 17:47:56 +01:00
bugobliterator
6c5812c528
ekf2: add listeners for range and optical flow data
2016-03-13 17:47:56 +01:00
Lorenz Meier
2fa43e35f5
Compile fixes for EKF2
2016-03-12 12:15:10 +01:00
tumbili
36e3600809
take into account laneded and armed flag for ekf2 replay
2016-02-27 11:51:05 +01:00
tumbili
652fb5e99e
ekf2 app:
...
- support use of replay
2016-02-27 11:48:31 +01:00
Roman
15b0baf555
ekf2: fixed call to save parameter
2016-02-15 12:52:49 +01:00
Paul Riseborough
af5bbc916c
ekf2: Enable user defeatible saving of declination for next startup
2016-02-15 12:52:49 +01:00
Paul Riseborough
2ca48037fd
ekf2: Add mavlink adjustable parameters for control of magnetometer fusion
2016-02-15 12:52:49 +01:00
Roman
11df8168ee
provide ekf2 with landed flag from landing detector
2016-02-14 21:26:47 +01:00
Roman
2177c0e18a
ekf2: remove unused print functions
2016-02-14 20:51:01 +01:00
Lorenz Meier
3edf304e55
EKF2: Fix home altitude reporting
2016-02-10 08:38:03 +01:00
Paul Riseborough
371e5f70b1
ekf2: fix formatting
2016-02-05 18:28:32 +01:00
Paul Riseborough
a37daf4cec
ekf2: Add position observation noise parameter for flying without GPS
...
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
2016-02-05 18:28:32 +01:00
Paul Riseborough
8f020d5a8f
ekf2: Update tuning parameters
...
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Update documentation and display names for consistency.
2016-02-05 18:28:32 +01:00
Roman
c75cc75d25
ekf2 module: be consistent in constructor
2016-01-31 22:28:19 +01:00
bugobliterator
0f43a1ebbb
ekf2: fix code style
2016-01-31 22:12:11 +01:00
bugobliterator
04ad8ca594
ekf: change the name of estimatorr interface class
2016-01-31 22:12:11 +01:00
Paul Riseborough
92f0032475
ekf2: Add tuning parameters for GPS and Baro innovation gates
2016-01-31 22:12:11 +01:00
bugobliterator
6ffcca4b8f
ekf2_main: fix variable pass type
2016-01-31 22:12:11 +01:00
Paul Riseborough
92f2492fff
ekf2: update interface method for vehicle arm status and NED origin
2016-01-31 22:12:11 +01:00
Paul Riseborough
4594b3c69d
ekf2: Add parameters for magnetometer error checks
2016-01-31 22:12:11 +01:00
Paul Riseborough
5e4f76d844
ekf2: Add parameters and support for GPS quality checks
2016-01-31 22:12:11 +01:00
Julian Oes
563460444a
ekf2: get the rad to deg conversion right
2016-01-25 19:03:16 +01:00
Julian Oes
28754d3f58
ekf2: don't reset GPS position in every loop
2016-01-25 19:03:16 +01:00
Roman
c185a12c8e
log ekf2 innovations and innovation variances
2016-01-22 14:24:36 +01:00
Roman
21f7641e8d
log ekf2 estimator status
2016-01-22 14:24:36 +01:00
Lorenz Meier
7452cfdf63
EKF2: Fix polling code
2016-01-22 14:21:19 +01:00
