dbc3a13236
ekf2: remove unused parameter
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The logging of replay data is now controlled by the logging module
2017-10-09 08:58:01 +02:00
6cfee65060
ekf2: Add parameters to tune accelerometer bias learning
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These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
2017-10-09 08:58:01 +02:00
66277d0c02
ekf2: Added @reboot_required to parameters
2017-10-09 08:58:01 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
3498fe0c6f
delete sdlog2 EKF2 replay ( #7982 )
2017-09-19 10:20:41 -04:00
08059caf89
EKF: Enable compensation for static pressure positional error ( #7264 )
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* msg: add reporting of multi rotor drag fusion
* ekf2: add reporting of multi rotor drag fusion
* ekf2: Add parameters required to tune multi-rotor wind estimation
* ekf2: Add correction for static pressure position error
* ekf2: Use correct air density for position error corrections
* ekf2: fix parameter documentation error
* ekf2: Add separate forward and reverse position error correction factors
* ekf2: Fix formatting and parameter descriptions
* ekf2: Improve comments
2017-08-01 07:29:08 +10:00
03e11c4d18
update ecl and add param for innovation consistency checks for range aid fusion ( #7585 )
2017-07-19 18:25:12 +10:00
d68dd6ae1e
ekf2: Fix parameter description typo
2017-06-21 09:28:42 +02:00
b3ceb37272
ekf2: Add parameter to set range dependant noise
2017-06-21 09:28:42 +02:00
929ecd0e94
change to uint32 to match updated type from ecl
2017-06-21 09:28:42 +02:00
33495e8143
ekf2: added parameters to specify horizontal speed and absolute altitude
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thresholds for range aid mode
Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
68c2eb9dec
ekf2_params: added range aid parameter
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
833cdc9236
EKF2 update GPS and airspeed delay defaults ( #7353 )
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* update ecl to latest
* EKF2_GPS_DELAY change default 200ms -> 110ms
- 110msec is more representative of what most users are flying
* EKF2_ASP_DELAY change default 200ms -> 100ms
The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays.
2017-06-05 10:31:46 +10:00
889fb30029
ekf2: Improve control of magnetometer bias learning
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Adds parameters so that the motion checks used to switch between magnetic yaw and 3-axis fusion can be adjusted.
Modifies the check used to determine if learned mag biases can be saved. A cumulated calibration time is used rather than continuous calibration time to allow for for switching in and out of 3-axis fusion mode that is required to do calibration.
2017-05-20 10:24:08 +02:00
6474922224
ekf2: Save learned magnetometer biases
2017-05-03 08:37:14 +02:00
4bffb1478f
ekf2: added parameter for range sensor pitch offset
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-02-22 22:21:41 +01:00
056ac3c9c6
EKF: Update default value for sideslip fusion noise
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Use value obtained from tuning on replay logs
2016-11-15 23:58:05 +01:00
680a8f0b44
ekf2: fix rebase compile errors
2016-11-15 23:58:05 +01:00
72ad6627e1
updated beta noise
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Conflicts:
src/modules/ekf2/ekf2_params.c
2016-11-15 23:58:05 +01:00
f00f6e6eff
added parameter for when to fuse sideslip
2016-11-15 23:58:05 +01:00
0ee75dbc6b
ekf2: Allow adjustment of min arrival time delta parameter
2016-11-08 11:17:07 +01:00
865b6404ec
ekf2: reduce default output predictor time constant
2016-10-13 09:06:41 +02:00
a130b6a65c
style cleanup
2016-08-15 19:53:21 +02:00
4252511b8e
add bitmask param metadata
2016-07-07 12:42:59 +02:00
9c170f7fae
added parameter which defines threshold for airspeed given to the filter
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remove unnecessary replay fields
2016-06-08 17:11:10 +02:00
9e0ab5d266
ekf2: update height source parameter documentation
2016-05-28 14:54:14 +02:00
ac50510c78
ekf2: Use parameter defined values for EV noise if vision system estimates not available
2016-05-28 14:54:14 +02:00
57c1138d28
ekf2: add parameters for control of external vision fusion
2016-05-28 14:54:14 +02:00
d4262bce2a
EKF2 output predictor update ( #4606 )
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* ekf2: Update tuning parameter documentation
* ecl: update submodule reference
Enables selection of a new output predictor method
2016-05-27 08:36:37 +02:00
83cc9ef496
ekf2: Enable tuning of initial tilt alignment uncertainty
2016-05-18 12:44:04 +10:00
7d2d15643d
ekf2: Add tuning for IMU switch-on bias errors
2016-05-18 12:44:04 +10:00
3aa2297497
ekf2: Add parameters to control output filter
2016-05-14 11:24:41 +02:00
88800b9e36
added tas_innov_gate to params
2016-05-13 13:55:57 +02:00
2c6b7a008f
ekf2: Update tuning parameters
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Remove unused gyro scale factor parameter
Change gyro and accelerometer bias noise parameters to more intuitive units
Updated tuning defaults
2016-05-11 14:53:55 +02:00
25dbb5d628
ekf2: Add missing tuning parameters
2016-04-18 11:15:38 +02:00
0d50dd03d6
ekf2: Specify display precision for parameters
2016-04-18 11:15:38 +02:00
81292c1e65
ekf2: Enable position of range finder and flow sensor to be adjusted
2016-04-18 11:15:38 +02:00
43e56f9fdc
ekf2: Add tuneable parameters for sensor positions
2016-04-18 11:12:09 +02:00
e66a3bd99f
ekf2: incorporate fixes to covariance prediction and initialisation
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Update ecl library reference.
Update default parameters
2016-04-05 19:08:39 -07:00
222566de6e
ekf2: Fix error in parameter documentation
2016-04-05 19:08:39 -07:00
1bb07ff50c
adopted ekf2_params.c
2016-03-30 17:33:37 +02:00
6888545037
remove @unit enum
2016-03-25 20:33:25 -04:00
70a68def83
params correct boolean tag
2016-03-25 20:25:17 -04:00
0cab41075b
Fix pparam meta data
2016-03-14 09:43:51 +01:00
58e08339e8
ekf2: Update parameter documentation
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Updates parameter documentation to take advantage of the range finder height option.
2016-03-14 09:42:06 +01:00
9c94acc3e3
ekf2 remove @unit None
2016-03-14 09:12:34 +01:00
b89fbc9dbd
ekf2 fix comment formatting
2016-03-14 09:12:34 +01:00
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
5af98549b9
ekf2 param @unit
2016-03-14 09:10:29 +01:00
cecec86081
ekf2: Update documentation for height source param option
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The GPS and range finder options are still under development but should be reserved in the interface
2016-03-13 17:47:56 +01:00
Paul Riseborough