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Author SHA1 Message Date
Julian Oes
fd403b733d CMakeLists: don't always optimize for size 
Going forward the optimization flags should be set for a platform,
rather than for each individual module.
 2016-09-27 16:35:35 +02:00
Roman
c6e1d97176 terrain estimator: initialise with projection 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:09:42 +02:00
Roman
cc05db4985 terrain estimator: pass initialisation return value correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:07:50 +02:00
Roman
d53f532079 fixed computation of range measurement timestamp 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-17 11:41:12 +02:00
Paul Riseborough
7240fc78fe Merge pull request #183 from CarlOlsson/cont_wind_estimation 
Fix wind state  and wind variance initialization
 2016-08-23 19:55:22 +10:00
James Goppert
eab57b0187 Merge pull request #189 from PX4/revert-188-matrix_update 
Revert "Update matrix."
 2016-08-18 12:29:41 -04:00
James Goppert
e5b74f511f Revert "Update matrix." 2016-08-18 12:29:31 -04:00
James Goppert
90f6bd7f3d Merge pull request #188 from PX4/matrix_update 
Update matrix.
 2016-08-18 12:06:20 -04:00
James Goppert
1daea6c1a3 Update matrix. 2016-08-18 11:58:31 -04:00
CarlOlsson
8d60da1442 removed old wind initialization 2016-08-11 15:26:21 +02:00
CarlOlsson
51c8715638 fixed issue with airspeed never fused 2016-08-11 15:26:21 +02:00
Paul Riseborough
d1d56d9e5e EKF: Add logic to to control wind state estimation 2016-08-11 15:26:21 +02:00
Paul Riseborough
75bec44b94 EKF: add function to initialise wind states 2016-08-11 15:26:21 +02:00
Paul Riseborough
6dff2df28e EKF: Add method to reset wind state covariances 
Set variances in polar coordinates and rotate into cartesian frame
 2016-08-11 15:26:21 +02:00
Paul Riseborough
eff9af549f scripts: derive conversion from polar to cartesian wind state covariance 2016-08-11 15:26:21 +02:00
Paul Riseborough
a9894d7e8c EKF: improve efficiency of airspeed fusion 
Don't compute array entries where the result will be zero
 2016-08-11 15:26:21 +02:00
Roman Bapst
df0f8fed45 fixed wrong condition on which gps height would be fused (#180) 
- this solves the issue where height innovations would jump
between two regimes

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-08-05 14:45:48 +02:00
Youssef Demitri
168d9add76 added getter function for wind states 2016-07-22 12:33:41 +02:00
Beat Küng
73b8ac954d ekf_helper.cpp: remove unused includes 
This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
       not_supported =     ENOTSUP,

The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
 2016-07-15 12:50:11 +02:00
Lucas De Marchi
2240eb6b4f Move __STDC_FORMAT_MACROS to build system (#174) 
__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
georgehines
4f8ffb3420 promote to float (for internal representation) before scaling by format multiplier (#175) 2016-07-10 11:13:18 +02:00
Paul Riseborough
a2d866520a EKF: perform innovation check in all axes before fusing 3D mag data (#171) 
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
 2016-07-07 16:46:30 +02:00
Beat Küng
5e0a229ee8 data_validator cleanup: use dimensions variable, use static for some constants (#167) 2016-06-30 13:28:01 +02:00
Paul Riseborough
0cc0008927 Merge pull request #166 from georgehines/matlab-log-import 
add double support
 2016-06-30 17:21:37 +10:00
Paul Riseborough
eaae95fdc4 Merge pull request #160 from priseborough/pr-ekf2Improvements 
EKF: clean up fusion control logic
 2016-06-30 17:18:14 +10:00
Paul Riseborough
f5e9ea1626 EKF: Prevent potential divide by zero 2016-06-30 17:06:32 +10:00
Paul Riseborough
eb2afc522d EKF: fix bug preventing use of baro as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough
573f252b73 EKF: fix bug preventing GPS use as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough
5f9752cac8 EKF: Improve function names 2016-06-30 17:06:32 +10:00
Paul Riseborough
7bc9217f00 EKF: Clean up control of observation fusion 
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
 2016-06-30 17:06:32 +10:00
Beat Küng
9a95898414 gps_message: remove time_usec_vel from struct (unused) 2016-06-27 10:12:23 +02:00
George Hines
f467e714bd add double support 2016-06-23 09:24:11 -07:00
Roman Bapst
1b394460a3 fix comment about filter bias states 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst
bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Lorenz Meier
74a77b45b2 Add DOI 2016-06-12 11:51:54 +02:00
Paul Riseborough
16bdbebdc6 Merge pull request #161 from PX4/pr-resetFix 
do not return early in velocity reset method
 2016-06-08 17:23:09 +10:00
Roman
703fb4e31b do not return early in velocity reset method otherwise 
some code will not be executed
 2016-06-08 07:51:18 +02:00
Paul Riseborough
928a7dd059 Merge pull request #157 from PX4/pr-ekf2ResetInterface 
Change state reset information interface
 2016-06-08 14:18:31 +10:00
Paul Riseborough
2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough
e72788bd0f Merge pull request #159 from priseborough/pr-ekf2MagBugFix 
EKF: Fix critical bugs in mag fusion and yaw reset
 2016-06-08 14:11:47 +10:00
Paul Riseborough
f26aca55a1 EKF: Fix bug in quaternion covariance initialisation function 
The covariances between quaternion and non-quaternion states were not being updated
 2016-06-08 13:23:30 +10:00
Paul Riseborough
b3baab64f2 EKF: Updates to 3-axis mag fusion auto-code 
The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
 2016-06-08 12:56:59 +10:00
Paul Riseborough
21168f9929 EKF: fix bug in 3-axis mag fusion innovation test 
The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
 2016-06-08 11:58:33 +10:00
Paul Riseborough
99b34f0df4 EKF: Only reset necessary terms when mag fusion covariance reset required 
Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
381d99aed6 EKF: Inform console of serious fusion numerical errors 2016-06-08 11:58:33 +10:00
Paul Riseborough
dbfe8c0242 EKF: remove approximation in mag fusion innovation variance calculation 
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
79228352e9 EKF: Reset mag and wind state variances to 'reasonable' values 
If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery
 2016-06-08 11:58:33 +10:00
Paul Riseborough
34ffffa021 EKF: Prevent use of non time-stamped invalid data during initialisation 
Fixes bad height initialisation seen intermittently with snapdragon
 2016-06-08 11:56:07 +10:00
CarlOlsson
eded0a8f7e activate tas fusion, off by default 2016-06-07 13:49:17 +02:00
Paul Riseborough
3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00