1000 Commits

This Branch

This Branch

All Branches

Author	SHA1	Message	Date
Daniel Agar	35bc2cfcd9	tecs and l1 switch to matrix math library (#409)	2018-03-18 21:59:41 -04:00
Daniel Agar	1bc7378414	EKF decrease synthetic sideslip interval 1s -> 150ms (#407)	2018-03-15 23:09:42 -04:00
Daniel Agar	341f8962d2	EKF interface add get_wind_status() (#406)	2018-03-14 16:41:09 -04:00
Thomas Stastny	041886a289	attitude_fw: move angular rate limits to body angular rates (#404)	2018-03-08 22:19:19 -05:00
Paul Riseborough	78e983073a	EKF: Fix bug in use of gps velocity noise parameter (#401) ... This fixes a bug introduced by an earlier feature request PR. The parameter is supposed to define the lower limit on the observation noise.	2018-02-28 11:48:53 +11:00
ChristophTobler	cdc6efc5d6	EKF: fix rot vec calc from quat by using matrix lib	2018-02-08 10:22:55 +01:00
ChristophTobler	9238e2f1a2	EKF: fix spike handling in ev rotation calculation	2018-02-08 10:20:59 +01:00
Paul Riseborough	db5264e45c	EKF: Add missing reset for output observer vertical position derivative ... Required to prevent large transients in value returned by get_pos_d_deriv accessor following a vertical state reset event.	2018-01-31 08:43:39 +01:00
Beat Küng	d078d68f64	Reverse the linked list of data_validator_group #2 (#389) ... * Reverse the linked list of data_validator_group and maintain a first node for search from index 0 Fixes issue PX4/Firmware#8644 * fix code style * validator: fix shadowing of 'sibling' argument	2018-01-30 09:11:01 +11:00
ChristophTobler	337cdcc59a	init height using baro when set to ev height (#388) ... this also makes sure the _baro_hgt_offset is being initialized correctly	2018-01-30 07:33:28 +11:00
Paul Riseborough	a2d6a4dded	EKF: fix indexing bug (#387) ... Should use index 9 for vertical position.	2018-01-29 08:09:55 +11:00
Paul Riseborough	1ddd94f237	tecs: Remove redundant code ... The if() statement was there as provision to do something different with the speed demand derivative limits if an abnormal condition was present, however we have no basis for assigning different limits at this point in time.	2018-01-28 22:01:28 +01:00
Paul Riseborough	f016e66ff8	Revert "EKF: Release flow speed limit with altitude gained" (#382) ... * Revert "EKF: Release flow speed limit with altitude gained" This reverts commit e70206f74bc4f77a0e000da3c923f4459006d2b1. * Revert "fix code style" This reverts commit 76bf70121c37e2c1ec74982eb8c26e0510b2c84a. * Revert "Reverse the linked list of data_validator_group and maintain a first node" This reverts commit 32482e7644d14d7e4d0e25183b0dc9b0f27bf9c1.	2018-01-24 20:46:48 +11:00
jay	76bf70121c	fix code style	2018-01-19 11:53:36 +01:00
lijie	32482e7644	Reverse the linked list of data_validator_group and maintain a first node ... for search from index 0 Fixes issue PX4/Firmware#8644	2018-01-19 11:53:36 +01:00
ChristophTobler	cdbca91e79	EV height reset (#379) ... * fix typo * EKF: use baro if it was reset to baro from ev * EKF: set vert_pos_reset if resetting to ev hgt otherwise the position controller will not reset the setpoint -> leading to unwanted altitude changes	2018-01-15 20:15:56 +11:00
Andreas Antener	9e16e51d3a	attitude_fw: constrain integrator properly to prevent building it up over the specified maximum	2018-01-13 16:17:01 +01:00
Daniel Agar	c8ab806120	EKF pytest temporarily disable	2018-01-05 02:39:02 -05:00
Daniel Agar	ae641020dd	EKF run pytest quick and plot	2018-01-05 02:39:02 -05:00
Daniel Agar	ec0d907d5a	update README build badge (travis-ci -> jenkins)	2018-01-05 02:39:02 -05:00
Daniel Agar	7df4e0f8eb	reenable pytest with px4-dev-ecl	2018-01-05 02:39:02 -05:00
Daniel Agar	f407954207	initial jenkins configuration	2018-01-05 02:39:02 -05:00
Lorenz Meier	dd9ea86fd6	Update README.md ... Added link to tuning guide.	2018-01-04 08:50:34 +01:00
Paul Riseborough	76763adb5c	Merge pull request #374 from PX4/pr-ekfInitFix ... EKF: Prevent possible /0 due to incorrect initial values	2018-01-04 08:15:08 +11:00
Paul Riseborough	0f047504d4	EKF: Prevent possible div 0 due to incorrect initial values ... Gate size class variables should not be initialised to zero, because it will cause a /0 error if fuseVelPosHeight() is called before they are set to their respective parameter values.	2018-01-04 07:47:03 +11:00
Daniel Agar	f0862210c7	EKF initialize _hvelInnovGate ... - fixes CID 139550	2018-01-03 08:07:28 +01:00
Paul Riseborough	bdbc05cf91	Merge pull request #372 from PX4/pr-tecs_init ... TECS initialize throttle integrator at cruise if in air	2017-12-28 09:09:14 +11:00
Paul Riseborough	a39c376c26	Merge pull request #371 from CarlOlsson/pr-push_beta_test_ratio ... ekf: return beta test ratio in get_innovation_test_status	2017-12-28 08:29:15 +11:00
Daniel Agar	8320c8ba14	TECS initialize throttle integrator at cruise if in air	2017-12-21 16:29:14 -05:00
CarlOlsson	5c8b22b43f	ekf: return beta test ratio in get_innovation_test_status ... Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	2017-12-18 15:48:36 +01:00
Paul Riseborough	e70206f74b	EKF: Release flow speed limit with altitude gained ... When GPS use is gained whilst flying using optical flow data, the sudden release of the speed limit is unannounced to the operator and can cause unexpected acceleration. This patch releases the speed limit as height is gained, but does not reduce it when the vehicle descends, unless GPS use is lost.	2017-12-12 01:26:44 +00:00
CarlOlsson	dea0c8bb6a	tecs: fixed some typos	2017-12-08 00:31:12 -05:00
Paul Riseborough	83b765f707	EKF: Don't print navigation lost message on startup	2017-12-03 23:02:02 +00:00
Daniel Agar	e3da71c89d	Ekf initialize all fields	2017-11-26 16:50:16 -05:00
Andreas Antener	ee57908911	Provide access to FW integrators	2017-11-26 15:33:34 +01:00
Paul Riseborough	22a6abbca2	Merge pull request #365 from PX4/pr-ekfBugFix ... EKF: Fix vel pos innovation handling bug	2017-11-24 14:46:11 +11:00
Paul Riseborough	89be63d6c2	EKF: Fix vel pos innovation logging bug	2017-11-24 14:25:44 +11:00
Paul Riseborough	882f4d44e5	Merge pull request #362 from PX4/pr-ekfAuxVelFuse ... EKF: Add additional velocity interface to use landing beacon data	2017-11-21 11:55:43 +11:00
Paul Riseborough	b0ad8269a5	EKF: enable separate monitoring of aux velocity innovations	2017-11-21 11:18:09 +11:00
Paul Riseborough	2a57fd858d	EKF: clean up reset of fusion flags	2017-11-21 11:18:09 +11:00
Paul Riseborough	8e30c2666d	EKF: Add support auxiliary velocity observation ... This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.	2017-11-21 11:18:09 +11:00
Paul Riseborough	bd8f30752a	Merge pull request #351 from PX4/ekfGndEffectComp-wip ... EKF: Protect against ground effect induced static pressure rise	2017-11-20 09:14:26 +11:00
Paul Riseborough	a2b24fa960	EKF: Protect against ground effect induced static pressure rise during landing and takeoff. ... Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff. Method needs to be activated externally. Turns off automatically after 10 seconds or if specified height gained.	2017-11-17 21:41:31 +11:00
Paul Riseborough	c8d459eecd	Merge pull request #360 from dagar/pr-ekfObsBufAlloc ... EKF RingBuffer allocation minor improvements + print memory usage	2017-11-17 08:38:57 +11:00
Paul Riseborough	3479542ae5	Merge pull request #359 from PX4/pr-ekfObsBufAlloc ... EKF: Reduce memory usage	2017-11-17 08:09:37 +11:00
Daniel Agar	d9c8af54bd	EKF add print_status() with memory usage	2017-11-16 14:11:34 -05:00
Daniel Agar	75d1ed894c	EKF simplify RingBuffer allocation check	2017-11-16 13:09:17 -05:00
Paul Riseborough	af7004ef01	EKF: report observation buffer allocation errors	2017-11-16 20:04:46 +11:00
Paul Riseborough	d785a19c0a	EKF: delay final allocation of observation buffers until required	2017-11-16 19:47:04 +11:00
Paul Riseborough	f54f1d467f	Merge pull request #358 from PX4/pr-ringbuffer_copies ... EKF RingBuffer avoid unnecessary copying	2017-11-16 13:37:36 +11:00