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Author SHA1 Message Date
Roman Bapst
f35e78643c Merge pull request #79 from dagar/integrator_fix 
fw multiply integrator gain in loop
 2016-04-05 22:33:29 +02:00
Paul Riseborough
430d4b1cf8 EKF: ensure data in buffers is zero at startup 2016-04-05 22:23:37 +02:00
Paul Riseborough
c6bd93ed40 EKF: Include all output files generated by derivation script 2016-04-05 22:23:37 +02:00
Paul Riseborough
470098e182 EKF: update default tuning parameters 
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
Paul Riseborough
eaf94935f0 EKF: Fix bug in initialisation of height and magnetic field 
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
Paul Riseborough
03eac2f25e EKF: Apply covariance prediction derivation changes 2016-04-05 22:23:37 +02:00
Paul Riseborough
ac71ec5d37 EKF: Fix scaling error in covariance prediction derivation 
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
CarlOlsson
8678a939e2 removed reinitialization of intermediate variables 2016-04-05 14:18:47 +02:00
Roman Bapst
2632c930f7 Merge pull request #85 from CarlOlsson/add_error_reporting_tas 
added fault status reporting
 2016-04-04 18:52:06 +02:00
Roman Bapst
96b9674cb6 Merge pull request #84 from CarlOlsson/change_to_true_airspeed 
change name to true_airspeed
 2016-04-04 18:49:04 +02:00
CarlOlsson
eee6f1048f Changed vtaspred threshold 2016-04-04 16:27:06 +02:00
CarlOlsson
3ad5b52aea removed comment 2016-04-04 16:26:46 +02:00
CarlOlsson
616725410d updated calculation 2016-04-04 16:26:13 +02:00
CarlOlsson
ec9902d802 added fault status reporting 2016-04-04 16:21:12 +02:00
CarlOlsson
1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00
Roman Bapst
068c29851c Merge pull request #80 from PX4/fuse_tas_rebased 
Fuse tas rebased
 2016-03-30 17:17:05 +02:00
Roman Bapst
27b894540e put airspeed fusion logic but don't actually call it yet 2016-03-30 17:01:03 +02:00
Roman Bapst
1b7115dec9 increased airspeed fusion rate to 12.5Hz 2016-03-30 17:01:03 +02:00
CarlOlsson
f5a9afd278 moved init 2016-03-30 17:01:03 +02:00
CarlOlsson
f990d99790 fixed bug 2016-03-30 17:01:03 +02:00
CarlOlsson
4301e1105b added commas 2016-03-30 17:01:03 +02:00
CarlOlsson
81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
CarlOlsson
d440c883b5 adopted ekf_interface.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson
f8878d41dc adopted ekf_helper.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson
6bb2f7638c adopted ekf.h 2016-03-30 17:01:03 +02:00
CarlOlsson
0918fa04c7 adopted ekf.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson
92abf93c8f adopted common.h 2016-03-30 17:01:03 +02:00
CarlOlsson
0fb1e0578b added function for fusing airspeed 2016-03-30 17:01:03 +02:00
Daniel Agar
82cf1827d4 fw multiply integrator gain in loop 2016-03-25 17:28:39 -04:00
Paul Riseborough
0ea55e25f9 Merge pull request #78 from PX4/pr-addGpsHgtOption 
EKF: Add option to use GPS for height and improve height fall-back behaviour
 2016-03-23 11:19:01 -07:00
Paul Riseborough
400a6e12ba EKF: Ensure all data in buffers is initialised 
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
Paul Riseborough
064a0e4dbc EKF: Don't use GPS to set position noise when not using GPS 2016-03-16 20:12:36 +11:00
Paul Riseborough
c23d72ba29 EKF: Ensure filter control modes are correctly initialised 2016-03-16 17:22:27 +11:00
Paul Riseborough
9f3b1351f7 EKF: Don't initialise velocity to GPS on initial alignment 
For initial alignment the velocity and position should start at zero
 2016-03-16 17:20:57 +11:00
Paul Riseborough
687fcc70be EKF: Explicitly define type conversion for GPS height 2016-03-16 17:18:20 +11:00
Paul Riseborough
e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough
6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough
63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough
4bd79c9e5d Merge pull request #76 from PX4/pr-fixRngHgtMode 
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
Paul Riseborough
49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa EKF: Don't start the output observer before the main filter has initialised 
This prevents the possibility of output transients if alignment is delayed.
 2016-03-13 21:17:51 +11:00
Paul Riseborough
d2407c3463 EKF: code style updates 2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Lorenz Meier
699ec17cc3 Removed spurious print in wheel controller 2016-03-12 11:23:08 +01:00
Paul Riseborough
2882c53246 Merge pull request #74 from PX4/pr-optflow-reworked 
Add fusion of optical flow LOS rate measurements
 2016-03-11 11:13:03 +11:00
Paul Riseborough
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
Paul Riseborough
26238bc2f5 EKF: Allow for change in position when defining the WGS-84 origin position 
This allows GPS aiding to commence later in flight without step changes in local position output
 2016-03-11 11:03:43 +11:00
Paul Riseborough
e0fcce1463 EKF: Make position and velocity reset publish success 
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
Paul Riseborough
48f980b054 EKF: Fix syntax causing posix build to fail 2016-03-11 11:03:43 +11:00