596b8220e2
EKF: Output mag sensor isolation warning first time only
2017-07-31 19:39:07 +10:00
ce806768b7
EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing
2017-07-31 19:39:07 +10:00
c230663b68
Merge pull request #309 from PX4/pr-ekfYawFusion
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EKF: Improve efficiency of yaw fusion for External Vision
2017-07-31 19:37:15 +10:00
ba5de96fcb
Merge pull request #311 from PX4/pr-ekfExtVis
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EKF: Add ability to use EV and GPS data together
2017-07-29 16:29:53 +10:00
3ee6898710
EKF: Enable origin to be maintained when starting aiding using EV only
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When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.
2017-07-29 15:31:34 +10:00
e08da1c599
EKF: Add ability to use EV and GPS data together
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Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
2017-07-26 18:06:18 +10:00
74d1955dfa
Merge pull request #310 from PX4/pr-ekfFixComments
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EKF: Correct units in comments
2017-07-26 16:28:44 +10:00
f3909244f0
EKF: Correct units in comments
2017-07-25 09:17:18 +10:00
33e8d5923f
matlab: Allow replay to handle late start GPS data in log
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Also minor fix to comments.
2017-07-24 16:34:50 +10:00
e18f92d9c2
matlab: Improve conversion of APM log data
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Allow file conversion to work with unequal length GPS and GPA data.
Allow file conversion to work if range, flow and odometry data is not present.
2017-07-24 16:33:12 +10:00
20584ee997
EKF: Improve efficiency of heading fusion calculations when using EV heading
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Moves calculation only required for mag heading fusion into the if (_control_status.flags.mag_hdg) branch
When using EV yaw, the observed yaw angle is calculated directly from the EV quaternions using derived expressions from references in code comments.
2017-07-21 10:56:14 +10:00
df34b43c00
Merge pull request #308 from PX4/pr-ekfDoxygen
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EKF: Update documentation and make compatible with Doxygen
2017-07-21 10:55:18 +10:00
5aeeebf7ac
matlab: Fix derivation for 321 Euler rotation sequence
2017-07-21 10:48:54 +10:00
26b5f26891
matlab: Add scripts to calculate rotation conversions for 321 or 312 Euler sequences
2017-07-21 10:22:17 +10:00
aec01ce59c
EKF: Update class variable documentation and make compatible with Doxygen
2017-07-20 20:16:42 +10:00
627f8184b3
Merge pull request #307 from PX4/pr-constrain_vpos
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constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance …
2017-07-20 17:35:35 +10:00
61a7991693
constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2)
2017-07-20 08:29:11 +02:00
9b6e1ab2a7
Merge pull request #306 from PX4/revert-305-revert-303-pr-get_terr_valid
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Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""
2017-07-19 17:54:18 +10:00
e1fe5b2229
Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""
2017-07-19 17:52:35 +10:00
13f8d949bd
Merge pull request #305 from PX4/revert-303-pr-get_terr_valid
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Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:34:03 +10:00
c887b02f21
Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:33:48 +10:00
a59cf894d2
Merge pull request #303 from PX4/pr-get_terr_valid
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Split get_terrain_vert_pos() into valid and get_vpos
2017-07-17 17:29:20 +02:00
e429ecab17
check if terrain valid instead of initialized
2017-07-17 16:43:23 +02:00
eae0522dc2
split into get_terrain_valid and get_terrain_vert_pos
2017-07-17 16:42:42 +02:00
c42f820072
Merge pull request #295 from PX4/pr-rng_aid_hagl_hyst
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rng aid: use hysteresis with lower hagl check
2017-07-17 16:05:45 +02:00
517fe8a71f
rng aid: use hysteresis with lower hagl check
2017-07-17 13:36:51 +02:00
9da9aa632d
Merge pull request #298 from PX4/pr-fix_rng_offset
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init rng offset with ground clearance param when on ground to avoid n…
2017-07-17 13:33:10 +02:00
18e81eba31
Merge pull request #300 from nicolaerosia/ekf2-dt
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sensor_combined stores deltas in usec instead of seconds
2017-07-17 07:25:27 +10:00
5277141166
sensor_combined stores deltas in usec instead of seconds
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Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com >
2017-07-16 20:50:16 +03:00
e2a5e57e14
matlab: Update replay scripts
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Miscellaneous fixes and tuning changes.
Add plotting of Euler angle uncertainties.
2017-07-16 12:56:02 +10:00
8ed61ac052
init rng offset with ground clearance param when on ground to avoid noisy init
2017-07-13 17:43:19 +02:00
667517a9b6
Merge pull request #301 from PX4/pr-fix_hagl_valid
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return hagl valid false if update was rejected
2017-07-13 17:28:53 +02:00
d2945abd85
return hagl valid false if update was rejected
2017-07-13 14:17:48 +02:00
d69cc3d7c8
Merge pull request #293 from PX4/pr-fixExtVisionFallback
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EKF: Allow fallback to non-aiding mode if external vision fusion is lost
2017-07-13 20:45:24 +09:00
9ee35e38df
EKF: Don't fallback when optical flow is lost if external vision data is being used
2017-07-13 20:21:41 +09:00
1bb576c197
EKF: Allow fallback to non-aiding mode if external vision is lost.
2017-07-13 20:21:41 +09:00
7a17f74910
Merge pull request #297 from ursa-drone/vispos_fix
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Fixed vision position fusion bug
2017-07-12 22:15:54 +09:00
f96685267e
Fixed vision position fusion bug
2017-07-10 13:44:51 +10:00
ec2b54fde7
EKF: Ensure normal yaw alignment using mag is performed if GPS method is not
2017-07-08 11:13:40 +02:00
d446f66105
EKF: Add a fixed wing mode with setter function
2017-07-08 11:13:40 +02:00
f064915889
EKF: Enable planes to recover from bad mag data at start of flight
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Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
2017-07-08 11:13:40 +02:00
48a42dfb5b
Merge pull request #288 from PX4/pr-ekfDelVelBiasFix
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EKF: Improve protection against covariance instability in delta velocity bias states
2017-07-04 08:57:32 +10:00
929f205a00
EKF: Changes arising from code review
2017-07-04 08:12:15 +10:00
7b5f55303a
EKF: Prevent covariance instability in delta velocity bias state estimation
2017-07-03 21:04:07 +10:00
eb1e73ec81
Merge pull request #283 from PX4/ekf_matrix_cleanup
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EKF matrix typedef cleanup
2017-07-03 21:02:24 +10:00
ae118940b1
Merge pull request #292 from PX4/pr-use_baro_align
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use baro for the ekf alignment if range finder is primary height source
2017-07-03 20:31:16 +10:00
dfbc9de48e
Merge pull request #291 from PX4/pr-ekfWindEstBugFix
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EKF: Fix bug affecting wind estimation for planes
2017-07-01 11:06:58 +10:00
ed8fa16678
use baro for the ekf alignment if range finder is primary height source
2017-06-30 10:28:57 +02:00
73ef95b37f
Merge pull request #289 from PX4/pr-height_fixes
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Pr height fixes
2017-06-30 12:31:26 +10:00
59edccca4a
EKF: Fix bug in wind estimation for fixed wing
2017-06-30 10:32:54 +10:00
Paul Riseborough