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1233 Commits

Author SHA1 Message Date
Paul Riseborough
94a6644684 Add comprehensive user selectable GPS checks 2016-01-25 13:07:57 +11:00
Roman
8d0022ab1e enable estimator state and innovations data logging 2016-01-22 11:31:14 +01:00
Roman
86df68e404 added interface for parameters 2016-01-22 10:45:03 +01:00
nickolasrossi
dfbbd36ff7 fix buffer overflow in constrain of wind velocity 2016-01-19 18:25:22 -08:00
Mark Charlebois
79bf35c4b3 Fixed printf of uint64_t 
Must use PRIu64 to prevent compiler errors.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-18 22:19:10 -08:00
Roman
0b5c90574c fix delta angle bias usage: 
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
 2016-01-14 17:06:02 +01:00
Roman
2af5856361 initialise output height with baro 2016-01-08 06:59:10 +01:00
Roman
a41f75ffb1 use full mag fusion 2016-01-08 06:59:10 +01:00
Roman
f8354bb5e9 - do not fake vertical gps measurement as we have baro 
- formatting

Conflicts:
	EKF/ekf.cpp
 2016-01-08 06:59:10 +01:00
Roman
2a88fc6cfd initialise vertical position correctly 2016-01-08 06:42:22 +01:00
Roman
5aa5f7f8c3 use correct timestamp for measurements 2016-01-08 06:42:03 +01:00
Mark Charlebois
b8837b4dc6 Added hexagon support 
std::to_string is not supported in the Hexagon complier

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-07 14:54:55 -08:00
Paul Riseborough
edfb7aefcc EKF: Fix initial alignment errors 
Use the gravity vector to estimate the initial roll and pitch angle
Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading
 2016-01-03 00:03:03 +11:00
Lorenz Meier
52cb9d02c7 EKF: Initialize all local structs and variables 2016-01-01 12:31:36 +01:00
Paul Riseborough
0cb210d045 EKF: Changes required to enter POSCTL mode 2016-01-01 11:56:38 +11:00
Lorenz Meier
eda69e727f Do not print states by default 2015-12-24 13:48:22 +01:00
Roman
457a57c6ff use simple heading fusion 2015-12-22 18:00:59 +01:00
Lorenz Meier
6b49e2495c Fix field initializers 2015-12-22 17:25:08 +01:00
Lorenz Meier
8894786752 Estimator base: Fix printf formatting 2015-12-22 17:24:58 +01:00
Lorenz Meier
faf48242ed EKF: Fix ringbuffer warnings 2015-12-22 17:24:43 +01:00
Roman
5e5d6f432a added static gps mode and init mag state correctly 2015-12-22 11:22:17 +01:00
Roman
f153a7cb44 added ifdef guard 2015-12-19 09:40:32 +01:00
Roman Bapst
d233ca3990 added complementary filter for real time state estimation 2015-12-10 16:36:10 +01:00
Roman Bapst
67646a15b0 added full mag fusion 2015-12-10 09:07:00 +01:00
Roman
8de8b0eb76 prediction and vel pos heading fusion working 2015-12-09 17:47:52 +01:00
Roman
921df43d32 added tests for EKF ringbuffer 2015-12-07 22:41:11 +01:00
Roman
d90c8fd7c2 fixed bug in covariance prediction 2015-12-07 22:41:11 +01:00
Roman
cfc39bc2f9 implemented prediction of states and covariance matrix 2015-12-07 22:41:11 +01:00
Roman
b52e38eb9d fix 2015-12-07 22:41:11 +01:00
Roman
cd5db8f494 enhance ringbuffer 2015-12-06 17:07:44 +01:00
Roman
b3491bcfc3 added file with ekf helper functions 2015-12-06 13:19:25 +01:00
Roman
859502753d added file with covariance calculations 2015-12-06 13:10:49 +01:00
Roman Bapst
144aa9c461 added base class for data storage 2015-12-05 11:08:06 +01:00