f35e78643c
Merge pull request #79 from dagar/integrator_fix
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fw multiply integrator gain in loop
2016-04-05 22:33:29 +02:00
430d4b1cf8
EKF: ensure data in buffers is zero at startup
2016-04-05 22:23:37 +02:00
c6bd93ed40
EKF: Include all output files generated by derivation script
2016-04-05 22:23:37 +02:00
470098e182
EKF: update default tuning parameters
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Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
2016-04-05 22:23:37 +02:00
eaf94935f0
EKF: Fix bug in initialisation of height and magnetic field
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This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
2016-04-05 22:23:37 +02:00
03eac2f25e
EKF: Apply covariance prediction derivation changes
2016-04-05 22:23:37 +02:00
ac71ec5d37
EKF: Fix scaling error in covariance prediction derivation
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The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
2016-04-05 22:23:37 +02:00
8678a939e2
removed reinitialization of intermediate variables
2016-04-05 14:18:47 +02:00
2632c930f7
Merge pull request #85 from CarlOlsson/add_error_reporting_tas
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added fault status reporting
2016-04-04 18:52:06 +02:00
96b9674cb6
Merge pull request #84 from CarlOlsson/change_to_true_airspeed
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change name to true_airspeed
2016-04-04 18:49:04 +02:00
eee6f1048f
Changed vtaspred threshold
2016-04-04 16:27:06 +02:00
3ad5b52aea
removed comment
2016-04-04 16:26:46 +02:00
616725410d
updated calculation
2016-04-04 16:26:13 +02:00
ec9902d802
added fault status reporting
2016-04-04 16:21:12 +02:00
1ea26b406a
change name to true_airspeed
2016-04-04 16:10:52 +02:00
068c29851c
Merge pull request #80 from PX4/fuse_tas_rebased
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Fuse tas rebased
2016-03-30 17:17:05 +02:00
27b894540e
put airspeed fusion logic but don't actually call it yet
2016-03-30 17:01:03 +02:00
1b7115dec9
increased airspeed fusion rate to 12.5Hz
2016-03-30 17:01:03 +02:00
f5a9afd278
moved init
2016-03-30 17:01:03 +02:00
f990d99790
fixed bug
2016-03-30 17:01:03 +02:00
4301e1105b
added commas
2016-03-30 17:01:03 +02:00
81fc086b76
adopted ekf_interface.h
2016-03-30 17:01:03 +02:00
d440c883b5
adopted ekf_interface.cpp
2016-03-30 17:01:03 +02:00
f8878d41dc
adopted ekf_helper.cpp
2016-03-30 17:01:03 +02:00
6bb2f7638c
adopted ekf.h
2016-03-30 17:01:03 +02:00
0918fa04c7
adopted ekf.cpp
2016-03-30 17:01:03 +02:00
92abf93c8f
adopted common.h
2016-03-30 17:01:03 +02:00
0fb1e0578b
added function for fusing airspeed
2016-03-30 17:01:03 +02:00
82cf1827d4
fw multiply integrator gain in loop
2016-03-25 17:28:39 -04:00
0ea55e25f9
Merge pull request #78 from PX4/pr-addGpsHgtOption
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EKF: Add option to use GPS for height and improve height fall-back behaviour
2016-03-23 11:19:01 -07:00
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
064a0e4dbc
EKF: Don't use GPS to set position noise when not using GPS
2016-03-16 20:12:36 +11:00
c23d72ba29
EKF: Ensure filter control modes are correctly initialised
2016-03-16 17:22:27 +11:00
9f3b1351f7
EKF: Don't initialise velocity to GPS on initial alignment
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For initial alignment the velocity and position should start at zero
2016-03-16 17:20:57 +11:00
687fcc70be
EKF: Explicitly define type conversion for GPS height
2016-03-16 17:18:20 +11:00
e334a5dc57
EKF: Add check for NaN's on attitude states
2016-03-16 13:43:21 +11:00
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
63b0cf4360
EKF: Fix baro height offset bug
2016-03-14 15:51:15 +11:00
4bd79c9e5d
Merge pull request #76 from PX4/pr-fixRngHgtMode
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EKF: Fix bugs preventing use of range finder as primary height source
Flight testing completed and I have checked that the other pending PR #75 rebases cleanly on it.
2016-03-14 09:46:58 +11:00
49023f3d7e
EKF: fix travis build error
2016-03-13 21:56:28 +11:00
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
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This prevents the possibility of output transients if alignment is delayed.
2016-03-13 21:17:51 +11:00
d2407c3463
EKF: code style updates
2016-03-13 21:17:51 +11:00
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
2016-03-13 21:17:51 +11:00
370f643f42
EKF: Enable use of range finder for primary height source
2016-03-13 18:44:34 +11:00
699ec17cc3
Removed spurious print in wheel controller
2016-03-12 11:23:08 +01:00
2882c53246
Merge pull request #74 from PX4/pr-optflow-reworked
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Add fusion of optical flow LOS rate measurements
2016-03-11 11:13:03 +11:00
109e0e6dfc
EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
2016-03-11 11:03:43 +11:00
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
2016-03-11 11:03:43 +11:00
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
2016-03-11 11:03:43 +11:00
48f980b054
EKF: Fix syntax causing posix build to fail
2016-03-11 11:03:43 +11:00
Roman Bapst