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Author SHA1 Message Date
Paul Riseborough
421703c267 EKF: rework initialisation of height state and offsets 2016-04-22 08:38:41 +10:00
Paul Riseborough
a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Paul Riseborough
10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Paul Riseborough
0de15b1b20 EKF: Add variables to monitor vertical position and height offset 2016-04-22 08:28:56 +10:00
Paul Riseborough
62c6d40f1f EKF: Add methods to ring buffer to access specific indices 2016-04-22 08:21:36 +10:00
George Hines
59df1a3552 rename log GUI consistent with its assumptions 2016-04-21 10:58:28 -07:00
George Hines
62bdcf3e9b supports APM dataflash logs 2016-04-21 10:54:37 -07:00
Paul Riseborough
b295f9050c EKF: ensure GPS check status is correctly initialised 2016-04-20 21:53:15 +10:00
Lorenz Meier
9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
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
00c8821006 disable airspeed fusion for now. Needs more testing and implementation of side slip fusion 2016-04-19 11:18:45 +02:00
Paul Riseborough
2fa8a11a29 EKF: replace unnecessary memcopy 2016-04-19 19:10:41 +10:00
Roman Bapst
99fc61c27c ekf2 airspeed fusion: 
- 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 
provides immediate status reporting when dropping out of optical flow mode
 2016-04-19 17:38:22 +10:00
Paul Riseborough
31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough
6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst
60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst
f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Lorenz Meier
3455931617 EKF init: Fix initialization statement 2016-04-17 19:29:23 +02:00
Lorenz Meier
e1ce948768 Merge pull request #97 from dagar/cmake_update 
cmake STACK -> STACK_MAIN
 2016-04-17 15:58:52 +02:00
Daniel Agar
861c13f1fe cmake STACK -> STACK_MAIN 2016-04-16 21:46:50 -04:00
Paul Riseborough
55db3d8725 Merge pull request #94 from priseborough/pr-sensorPosComp 
Add compensation for EKF sensor position offsets
 2016-04-14 11:45:24 +10:00
Paul Riseborough
ea38aa130f EKF: update default time delay parameter values 2016-04-14 08:53:59 +10:00
Paul Riseborough
8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough
163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough
2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough
5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough
e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
48b105b748 EKF: correct range finder data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
3580940e10 EKF: Add sensor position offset parameters 2016-04-12 11:14:31 +10:00
Paul Riseborough
64e95910c4 Merge pull request #92 from priseborough/pr-ekf2HgtResetFix 
EKF: Fix vulnerability in height reset
 2016-04-12 11:09:06 +10:00
Paul Riseborough
006b6b58e4 EKF: fix bug in status print statement 2016-04-12 10:38:50 +10:00
Paul Riseborough
74078cde94 EKF: reset state variance when performing a height reset 
Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
 2016-04-11 19:40:27 +10:00
Paul Riseborough
f4f108d57d EKF: Reset vertical velocity when performing a height reset 2016-04-11 19:25:24 +10:00
Paul Riseborough
61b919754d Merge pull request #90 from georgehines/matlab-log-import 
version/toolbox compatibility
 2016-04-11 05:23:50 +10:00
George Hines
941d3bca0a changes some graphics arguments for version compatibility, adds a viewer example to the usage samples script 2016-04-07 16:39:32 -07:00
Paul Riseborough
a919088b6a Merge pull request #89 from georgehines/matlab-log-import 
Matlab log import
 2016-04-07 15:44:04 -07:00
George Hines
684b41494e adds estimator log viewer UI 2016-04-07 15:13:19 -07:00
George Hines
3773d5a00d removes accidentally commited px4log test file 2016-04-07 11:59:54 -07:00
George Hines
eb41d25ff6 reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly 2016-04-07 11:58:51 -07:00
George Hines
2ad21bc8c7 adds function header comments and method attribution 2016-04-07 07:40:40 -07:00
George Hines
f6413a1924 renames test script for clarity 2016-04-07 07:32:53 -07:00
George Hines
93fde19c25 changes some cell notation for speed 2016-04-07 07:22:21 -07:00
George Hines
0e3a6e214c completed low-overhead import script, added usage examples 2016-04-07 07:18:59 -07:00
George Hines
8c8653a1a2 initial commit of matlab px4 log importer 2016-04-06 17:12:40 -07:00
Lorenz Meier
f86ef34782 EKF: Fix error message which lied 2016-04-05 19:06:35 -07:00
Paul Riseborough
a352c2f4e3 EKF: Fix posix build error 
Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.
 2016-04-05 18:57:21 -07:00
Lorenz Meier
6b3ad03419 Merge pull request #86 from CarlOlsson/small_airspeed_fix 
Small airspeed fix
 2016-04-05 16:38:37 -07:00