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Author SHA1 Message Date
Paul Riseborough
18e81eba31 Merge pull request #300 from nicolaerosia/ekf2-dt 
sensor_combined stores deltas in usec instead of seconds
 2017-07-17 07:25:27 +10:00
Nicolae Rosia
5277141166 sensor_combined stores deltas in usec instead of seconds 
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
 2017-07-16 20:50:16 +03:00
Paul Riseborough
e2a5e57e14 matlab: Update replay scripts 
Miscellaneous fixes and tuning changes.
Add plotting of Euler angle uncertainties.
 2017-07-16 12:56:02 +10:00
ChristophTobler
8ed61ac052 init rng offset with ground clearance param when on ground to avoid noisy init 2017-07-13 17:43:19 +02:00
ChristophTobler
667517a9b6 Merge pull request #301 from PX4/pr-fix_hagl_valid 
return hagl valid false if update was rejected
 2017-07-13 17:28:53 +02:00
ChristophTobler
d2945abd85 return hagl valid false if update was rejected 2017-07-13 14:17:48 +02:00
Paul Riseborough
d69cc3d7c8 Merge pull request #293 from PX4/pr-fixExtVisionFallback 
EKF: Allow fallback to non-aiding mode if external vision fusion is lost
 2017-07-13 20:45:24 +09:00
Paul Riseborough
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
Paul Riseborough
1bb576c197 EKF: Allow fallback to non-aiding mode if external vision is lost. 2017-07-13 20:21:41 +09:00
Paul Riseborough
7a17f74910 Merge pull request #297 from ursa-drone/vispos_fix 
Fixed vision position fusion bug
 2017-07-12 22:15:54 +09:00
Isaac
f96685267e Fixed vision position fusion bug 2017-07-10 13:44:51 +10:00
Paul Riseborough
ec2b54fde7 EKF: Ensure normal yaw alignment using mag is performed if GPS method is not 2017-07-08 11:13:40 +02:00
Paul Riseborough
d446f66105 EKF: Add a fixed wing mode with setter function 2017-07-08 11:13:40 +02:00
Paul Riseborough
f064915889 EKF: Enable planes to recover from bad mag data at start of flight 
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
Paul Riseborough
48a42dfb5b Merge pull request #288 from PX4/pr-ekfDelVelBiasFix 
EKF: Improve protection against covariance instability in delta velocity bias states
 2017-07-04 08:57:32 +10:00
Paul Riseborough
929f205a00 EKF: Changes arising from code review 2017-07-04 08:12:15 +10:00
Paul Riseborough
7b5f55303a EKF: Prevent covariance instability in delta velocity bias state estimation 2017-07-03 21:04:07 +10:00
Paul Riseborough
eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Paul Riseborough
ae118940b1 Merge pull request #292 from PX4/pr-use_baro_align 
use baro for the ekf alignment if range finder is primary height source
 2017-07-03 20:31:16 +10:00
Paul Riseborough
dfbc9de48e Merge pull request #291 from PX4/pr-ekfWindEstBugFix 
EKF: Fix bug affecting wind estimation for planes
 2017-07-01 11:06:58 +10:00
ChristophTobler
ed8fa16678 use baro for the ekf alignment if range finder is primary height source 2017-06-30 10:28:57 +02:00
Paul Riseborough
73ef95b37f Merge pull request #289 from PX4/pr-height_fixes 
Pr height fixes
 2017-06-30 12:31:26 +10:00
Paul Riseborough
59edccca4a EKF: Fix bug in wind estimation for fixed wing 2017-06-30 10:32:54 +10:00
Paul Riseborough
ba4a311771 EKF: Update comments for wind estimation logic 2017-06-30 10:32:23 +10:00
Paul Riseborough
8e0cd1bc39 EKF: Add parameter to set initial and max allowed wind uncertainty 
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
ChristophTobler
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
ChristophTobler
0d9e535acb Use baro if reset to baro from gps and vice versa 2017-06-29 17:07:42 +02:00
ChristophTobler
4a4b0fa604 remove setting rng faulty in ev mode because not checked 2017-06-29 10:01:16 +02:00
ChristophTobler
066c641d61 range aid: switch to baro/gps even if rng aid conditions met and rng faulty 2017-06-29 09:47:02 +02:00
ChristophTobler
2f382c8e0e if hgt mode is range, switch to baro if range is faulty 2017-06-29 09:47:02 +02:00
ChristophTobler
e4f36215cb if in range aid mode, check faultiness that otherwise would never change back 2017-06-29 09:47:02 +02:00
ChristophTobler
e800de88b6 remove duplicate 2017-06-29 09:47:02 +02:00
Paul Riseborough
42b2469a46 matlab: fix comment error in file conversion utility 2017-06-29 10:41:42 +10:00
Paul Riseborough
70ece4df17 matlab: Add references for coning and skulling correction method 2017-06-28 15:27:59 +10:00
Paul Riseborough
8ccc45b26b matlab: Fix bug in replay plotting 2017-06-27 16:41:26 +10:00
Paul Riseborough
3e99898d47 matlab: Update readme file for the replay and improve optical flow tuning 2017-06-26 15:23:30 +10:00
Paul Riseborough
c1829d8e9a matlab: fix bugs and add replay of PX4 optical flow test data 2017-06-26 14:48:03 +10:00
Paul Riseborough
233c4b49c5 matlab: Add derivation of observation Jacobians used by the terrain estimator 2017-06-20 16:01:30 +10:00
Daniel Agar
c44488fdb8
EKF matrix typedef cleanup 2017-06-19 11:10:01 -04:00
Paul Riseborough
9303db85eb matlab: remove project specific code from mag cal comparison script 2017-06-17 17:35:07 +10:00
Paul Riseborough
edeed770b7 matlab: fix alignment bugs 2017-06-17 11:46:36 +10:00
Paul Riseborough
7f1cca5b28 Merge pull request #244 from PX4/pr-rangeAid 
Pr range aid
 2017-06-16 17:47:21 +10:00
ChristophTobler
6f5cffafec fix type of range_aid parameter: int -> int32_t 2017-06-15 10:14:59 +02:00
ChristophTobler
1fed209804 fix formatting 2017-06-15 09:10:43 +02:00
Roman
5036967343 barometer does not special height sensor offset because a barometer 
offset from the local origin is calculated if the primary source for
height is not baro

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
c5d464b821 make range sensor height offset computation more robust 
- when switching to range finder use the current terrain estimate as
height sensor offset, otherwise spikes in the range measurements could lead
to a wrong offset

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
182ea43445 fixed baro offset calculation 
- do not subtract the height sensor offset variable when computing the
baro offset from the local origin. The baro height offset is calculated
when baro is not fused and so the height sensor offset used in that case
is associated to another sensor and has nothing to do with the baro.

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
39983a7d55 range aid: added hysteresis for switching in and out of range aid 
- prevents rapid switching
- added innovation consistency check for using range aid

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
1b92c9b5b3 ekf_helper: fixed resetting height using range finder 
- take range sensor offset wrt to IMU into account
- use projection to earth Z axis

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
3778f0921a ekf: enable range finder to be used for estimating height even if it's not 
the primary height source

- moved height control into single function in order to decide which sensor
should be used for estimating height
- under certain conditions allow to use the range finder to estimate height
even if it's not the primary height source
- fixed a bug where the delta time for the baro offset calculation was always
zero
- use methods to set height control flags to reduce code duplication and
to prevent bugs

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00