Paul Riseborough
f999729d70
EKF: fix incorrect use of memcpy
2017-01-15 10:02:31 +01:00
Paul Riseborough
3c4c09593f
EKF: Rationalise console messages
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Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
2016-12-28 10:39:47 +01:00
Paul Riseborough
5ad329b641
EKF: Fix variable names to match convention
2016-11-07 22:23:12 +11:00
Paul Riseborough
afd6e54b2a
EKF: Allow for worst case timing jitter when setting observation buffer length
2016-11-07 11:50:16 +11:00
Paul Riseborough
d5b398ddb1
EKF: Minimise data buffer lengths
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Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
2016-11-07 09:06:45 +11:00
Paul Riseborough
b10b0184c5
EKF: Add IMU vibration calculation and reporting
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Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
2016-10-19 21:46:55 +11:00
Paul Riseborough
744b79c1b2
EKF: Publish innovation test ratios
2016-10-06 09:02:29 +02:00
Roman
d53f532079
fixed computation of range measurement timestamp
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-09-17 11:41:12 +02:00
Lucas De Marchi
2240eb6b4f
Move __STDC_FORMAT_MACROS to build system ( #174 )
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__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.
Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
2016-07-10 16:29:51 +02:00
Paul Riseborough
3c84d37175
Merge pull request #156 from PX4/fix_printfs
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EKF: use ECL printfs everywhere
2016-06-07 09:45:00 +10:00
Julian Oes
b8e2f79005
EKF: correct include paths
2016-06-02 16:29:22 +01:00
Julian Oes
ecfd8c867a
EKF: use ECL printfs everywhere
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- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
2016-06-02 16:07:26 +01:00
Paul Riseborough
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
2016-06-01 17:13:00 +10:00
Paul Riseborough
4237269fab
EKF: add struct to capture state reset events
2016-06-01 17:13:00 +10:00
Paul Riseborough
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
2016-06-01 17:13:00 +10:00
Paul Riseborough
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
2016-06-01 17:13:00 +10:00
Paul Riseborough
7dd123094f
EKF: correct documentation
2016-05-26 21:42:56 +10:00
Paul Riseborough
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
2016-05-26 13:27:08 +10:00
Paul Riseborough
5a40aa2c1a
EKF: prevent unwanted GPS use
2016-05-24 07:55:09 +10:00
Carl Olsson
0fafc49a49
fixed typos ( #147 )
2016-05-22 17:40:43 +02:00
waltjohnson
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
2016-05-19 09:58:18 -06:00
Nic
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
2016-05-17 21:07:04 -07:00
devbharat
6d20a426e0
Reset time_last_ext_vision
2016-05-14 21:17:29 +10:00
Paul Riseborough
3a0fcd03d7
EKF: Add interfaces and variables to use ext vision data
2016-05-14 21:17:29 +10:00
Paul Riseborough
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
2016-05-10 10:23:08 +10:00
Paul Riseborough
020b87933e
EKF: replace fault status struct with a union to facilitate logging
2016-05-07 21:11:16 +10:00
Lorenz Meier
9487eac505
Merge pull request #98 from priseborough/pr-ekf2StatusReporting
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EKF: improve reporting of filter status
2016-04-20 11:44:02 +02:00
Roman Bapst
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
2016-04-19 12:47:57 +02:00
Roman Bapst
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
2016-04-19 09:53:31 +02:00
Paul Riseborough
82920da232
EKF: strengthen checking of local position status
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provides immediate status reporting when dropping out of optical flow mode
2016-04-19 17:38:22 +10:00
Paul Riseborough
b46053415f
EKF: Compensate optical flow data for sensor position offset
2016-04-12 11:14:31 +10:00
CarlOlsson
1ea26b406a
change name to true_airspeed
2016-04-04 16:10:52 +02:00
Roman Bapst
1b7115dec9
increased airspeed fusion rate to 12.5Hz
2016-03-30 17:01:03 +02:00
CarlOlsson
d440c883b5
adopted ekf_interface.cpp
2016-03-30 17:01:03 +02:00
Paul Riseborough
400a6e12ba
EKF: Ensure all data in buffers is initialised
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This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
2016-03-20 15:14:16 +11:00
Paul Riseborough
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
Paul Riseborough
836fe39070
EKF: Update external interface functions to support optical flow
2016-03-11 11:03:43 +11:00
mcsauder
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
2016-03-02 08:42:38 +01:00
Paul Riseborough
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
2016-02-25 10:16:32 +11:00
Paul Riseborough
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
mcsauder
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
2016-02-23 15:52:02 -07:00
mcsauder
48e80e9e3e
Correct C style array initialization.
2016-02-23 15:16:40 -07:00
mcsauder
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
Roman Bapst
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
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Shared Library build
2016-02-23 08:30:46 +01:00
mcsauder
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
2016-02-19 23:57:06 -07:00
mcsauder
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
bugobliterator
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
Roman
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
Paul Riseborough
3f81eb7d1b
EKF: fix formatting
2016-02-04 17:15:03 +11:00
