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32,337 Commits 852 Branches 161 Tags
2a2d9e9ebada9f7f5d3715bd9c1804599219d893
Commit Graph
419 Commits
Author SHA1 Message Date
Mohammed Kabir 5ffe88672e vehicle_odometry: add timestamp_sample field for latency monitoring 2020-04-28 13:58:43 -04:00
kritz ccaa103164 ekf2: Stop getting velocity variance from pose covariance matrix (#14779) 2020-04-28 10:05:30 -04:00
Daniel Agar 326d8efc16 move attitude controllers to new wq:attitude_ctrl 2020-04-27 21:34:35 -04:00
Hamish Willee 8236b8da81 Fix up doc links to point to master branch 2020-04-21 08:58:40 +02:00
Daniel Agar cf37be8c44 ekf2 handle accelerometer clipping 
- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
 2020-04-07 20:11:08 -04:00
kamilritz a70aa6349a ECL interface: output vector quantities by return-by-value 2020-04-01 11:47:39 +02:00
Hamish Willee 1288db9314 ekf2_params.c: EKF2_MAG_TYPE: Info about yaw without mag 2020-03-25 09:41:54 +01:00
bresch 0f2f72a757 Ekf2: Add bitmask to select terrain estimator aiding sources 2020-03-19 20:27:39 +03:00
CarlOlsson 58ded8d4c0 ekf2: remove unused function declatation 2020-03-18 14:33:11 +01:00
Paul Riseborough ab92b46e69 Update ecl to add ability to recover from bad magnetic yaw 
* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
 2020-03-15 12:57:25 -04:00
Daniel Agar 0eca583ecf sensors: move baro aggregation to new sensors/vehicle_air_data 2020-03-12 19:06:34 -04:00
Daniel Agar a89b69b0ea vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
RomanBapst 4ddf0f9dc1 ekf2_main.cpp: fixed bug in the calculation of the mag bias calibration time 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-03-10 08:54:04 +01:00
CarlOlsson 8de1f5229b EKF2: use fixed time constant for GPS blending 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson 357700aa8d EKF2 GPS blending: fall out of blending if one module lose 3D fix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson a10a228092 EKF2 GPS blending: reset relative position offsets if blending not feasible 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-03-04 16:46:20 +01:00
CarlOlsson 7e00dcd382 EKF2: Fix GPS blending time jitter 2020-02-26 07:39:47 +01:00
CarlOlsson a61f1647ad replay: remove GPS relative timestamps 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-02-07 08:19:22 +01:00
CarlOlsson 37db7d3bba ekf2: define max number of range finders seperate from max number of mutli uORB topics 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-02-05 08:03:23 +01:00
Hamish Willee 9886b11f99 EKF params - clarify body frame origin/orientation 2020-01-30 07:29:11 -05:00
Daniel Agar 10410fc868 msg: rename sensor_bias -> estimator_sensor_bias 2020-01-27 09:03:27 +01:00
kamilritz 5a5b3a44ee Update flow interface 2020-01-24 16:49:17 +03:00
kritz 47cab3dba5 Update external vision interface (#13989) 
* Update external vision interface

* Update ECL Version
 2020-01-23 15:36:08 +01:00
kamilritz 8d25dcd543 Update EKF auxiliary velocity interface 2020-01-23 13:27:30 +01:00
kamilritz 9d184ea3d6 Update EKF range finder interface 2020-01-23 13:27:30 +01:00
kamilritz 230d7f2558 Update EKF airspeed interface 2020-01-23 13:27:30 +01:00
kamilritz 8772e09963 Update EKF gps interface 2020-01-23 13:27:30 +01:00
kamilritz 19b7421f86 Update EKF baro interface 2020-01-23 13:27:30 +01:00
kamilritz 439a20bfcb Update EKF mag interface 2020-01-23 13:27:30 +01:00
Daniel Agar 697dbfb9f8 sensors/vehicle_imu: incremental step towards multi-EKF 2020-01-22 18:04:29 -05:00
Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public 2020-01-22 12:03:03 -05:00
kamilritz 04e09d772e Add missing mag calibration biases 2020-01-21 13:36:08 +03:00
kamilritz a3d2254e44 Move mag downsampling to ECL lib 2020-01-21 13:36:08 +03:00
kamilritz 4e8665082e Move baro downsampling and dynamic pressure comp to ECL lib 2020-01-21 13:36:08 +03:00
Daniel Agar c270e75156 vehicle_local_position: delete unused and redundant dist_bottom_rate 2020-01-18 12:50:57 -05:00
Daniel Agar bb465ca5b7 sensor accel/gyro message cleanup 
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
 2020-01-18 01:15:00 -05:00
kamilritz 32a4e3a942 Update ekf vision parameter description 2020-01-09 10:36:10 +01:00
kamilritz 1560309687 Checking all used vision data for being finite 2020-01-09 10:36:10 +01:00
kamilritz 90aa4bb852 Support 3d auxvel fusion 2020-01-09 10:36:10 +01:00
kamilritz a67229e60e Use full variance of vision data 2020-01-09 10:36:10 +01:00
bresch dab17d628d PreFlightChecker: update unit tests 2019-12-24 13:18:47 -05:00
bresch 8080615191 PreFlightChecker: add spike limit argument for innovation check and 
increase optical flow test limits.
 2019-12-24 13:18:47 -05:00
kamilritz 24efc1b79c Set not yet supported estimator_innovations fields to zero 2019-12-05 11:29:29 +01:00
kamilritz 5d0965e83a Log height innovation sensor specific 2019-12-05 11:29:29 +01:00
kamilritz b73c80428e ECL: Clean velPos logging, deprecate ekf2_innovations msg 2019-12-05 11:29:29 +01:00
Daniel Agar 97c6a28a70 replace unnecessary perf_alloc_once usage 2019-11-30 21:17:15 -05:00
bresch 09c8c8f706 ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver 2019-11-27 10:33:27 +01:00
bresch 20705e3c53 ekf2_main: simplify "if true else false" with direct boolean assignment 2019-11-27 10:33:27 +01:00
bresch f6a72663fa ekf2_main: extract gps mgs fill 2019-11-27 10:33:27 +01:00
bresch 5d6e0587db ekf_main: fill gps gdop topic with pdop (combination of hdop and vdop) 2019-11-27 10:33:27 +01:00