07fbd2202a
EKF2 use simplified ecl/EKF setIMUData
2019-02-06 20:20:51 -05:00
ddc9522712
EKF2 always use IMU timestamp as now
2019-02-06 20:20:51 -05:00
60f2a92e3d
replace <cfloat> with <float.h>
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- <cfloat> isn't available in the NuttX c++ library
2019-01-06 19:20:57 -05:00
5b9dea5604
Replacing usleep with px4_usleep
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This is a step towards isolating time from the system.
2018-12-22 10:32:18 +01:00
cfd1be584e
Feature: VIO: add ODOMETRY stream ( #11084 )
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* mavlink_messages: remove LOCAL_POSITION_NED_COV stream
* mavlink_messages.cpp: add ODOMETRY stream
* add MAV_ODOM_LP parameter to activate odometry loopback
* EKF2: add vehicle_odometry publisher
* Replace VISION_POSITION_ESTIMATE loopback with ODOMETRY
* LPE: add vehicle_odometry publisher
* set vehicle_odometry local_frame field
* mavlink_messages.cpp: ODOMETRY frame_id depends on MAV_ODOM_LP
2018-12-21 12:54:04 -05:00
30dbfd99fb
EKF: Estimate WGS84 altitude with filtered AMSL offset
2018-11-22 16:55:30 +01:00
b85710b194
ekf2: fix typo
2018-10-22 09:26:06 -04:00
7b0e0de43c
ekf2: fix typo
2018-10-22 09:26:06 -04:00
10354f022e
ekf2: Allow use of RTK GPS heading
2018-10-17 09:48:38 -04:00
23094b9ac9
ekf2: subscribe only to 2 gps topic instances
2018-10-02 14:14:10 +02:00
72f85e4b2d
ekf2: Handle blending of dissimilar rate GPS data ( #10570 )
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A filtered update update interval is calculated for each receiver.
If dissimilar interval data is detected, blending occurs when data is received from the slower of the receivers.
If similar interval data is detected, blending occurs when receiver data with similar time stamps is available.
If no data is received from either receiver for longer than 300msec, then no blending will be performed and the most recent data will be used instead.
2018-09-29 09:23:19 -04:00
0784725ad3
ekf2: only report gps failure flags that are enabled
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So that they can be used for reporting errors.
2018-09-29 09:17:53 -04:00
f0c231778f
fix format
2018-09-18 09:52:33 +02:00
9566804f8c
fix small typo on PX4_ISFINITE covariance verification
2018-09-18 09:52:33 +02:00
cc73f214d1
add covariance matrices index aliases
2018-09-18 09:52:33 +02:00
8325724079
general fixes on VIO data access
2018-09-18 09:52:33 +02:00
7d7ee8e4bf
small rebase fix
2018-09-18 09:52:33 +02:00
607be6791c
ekf2: use fmaxf instead of fmax
2018-09-18 09:52:33 +02:00
efe312d4a6
style and format clean
2018-09-18 09:52:33 +02:00
183a63cce9
purge vehicle_vision_position alias
2018-09-18 09:52:33 +02:00
8f23a073a4
ekf2: add vehicle_odometry usage and data validation check; update replay as well
2018-09-18 09:52:33 +02:00
7691990a50
Pass through horizontal and vertial covariances
2018-09-16 21:30:20 -04:00
c2fcef8fc1
ekf2: Tighten preflight GPS quality checks
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Enable drift checks and reduce thresholds to reduce likelihood of commencing use of a unstable GPS position.
Publish drift data to assist with tuning.
2018-08-17 10:44:07 +10:00
e4485fc8cf
ekf2 replay: use correct timestamp for attitude publication
2018-08-06 07:15:51 +02:00
0626527d2c
EKF2 estimator_status fill n_states and use correct type for health_flags and timeout_flags
2018-08-03 17:42:48 -04:00
da68ea0d11
estimator_status delete unused nan_flags
2018-08-03 17:42:48 -04:00
92ff391c97
ekf2 fix GPS fix_type comparison
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- fixes Coverity CID 306253
2018-08-02 07:46:43 +10:00
77f0883cb9
ekf2: Reinstate saving of mag declination for use next start
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This capability was removed unintentionally by previous changes.
Requires ecl version with updated declination accessor function
2018-07-26 08:32:09 +02:00
fc65939f0e
ekf2: Add support for use of multiple GPS receivers ( #9765 )
2018-07-22 12:18:30 -04:00
4e3f7bdcc6
ekf2: Move range min/max checks to inside the ecl library
2018-07-16 21:59:04 +10:00
da2fbf60b5
distance sensors: Improve variable naming / description
2018-07-16 21:59:04 +10:00
35bde5c9fc
LL40LS: Implement driver-specific filtering based on the datasheet and experiments
2018-07-16 21:59:04 +10:00
850b1ad6a7
EKF2 split output predictor and publish attitude immediately ( #9832 )
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* EKF2 split output predictor and publish attitude immediately
* ecl: incorporate magic number tidy up
2018-07-09 08:11:24 +10:00
9ce83f2208
fix all sign-compare warnings
2018-07-01 09:36:55 +00:00
a04468ba9f
ekf2: Fix EKF preflight check fail false positives
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Uses a relaxed yaw innovation check threshold for fixed wing vehicle that can recover from larger yaw errors after takeoff.
Replaces the peak hold with decay filtering applied to the magnetic yaw innovations with a conventional lowpass filter. This prevents mag heading innovation transients caused by preflight handling from failing the check, but catches persistent errors. Sign swapping of innovations due to angle wrapping is not a problem due to the way that innovations are calculated inside the EKF, so a simple LPF sufficient.
2018-06-29 16:36:38 +00:00
96f47d4772
EKF2 add perf counters ( #9795 )
2018-06-28 17:28:03 -04:00
8f5ceac936
ekf2 : use INFINITY when altitude limiting is not needed
2018-06-09 13:38:04 +02:00
6a9377846f
ekf2 : update to use new navigation limits architechture
2018-06-09 13:38:04 +02:00
cbb4559c15
ecl : update to version that fixes wind relative dead reckoning bug
2018-04-24 00:02:48 -04:00
35cb2d0a9e
EKF2 fix airspeed orb_copy check
2018-04-24 00:02:48 -04:00
477a42e6f6
ekf2: Enable adjustment of nav validity timeout
2018-04-24 00:02:48 -04:00
1ecfb22dbc
EKF2 move all orb_subscribe/unsubsribe to the constructor/destructor
2018-04-11 23:26:58 -04:00
2a58c7a28c
EKF2 and replay add all consumed messages to ekf2_timestamps and refactor
2018-04-11 23:26:58 -04:00
3b5b12e1d1
move baro and magnetometer data out of sensor_combined
2018-04-11 23:26:58 -04:00
5dc23def2a
move pressure altitude from baros to sensors module
2018-04-11 23:26:58 -04:00
d9fbf85c20
ekf2: remove early advertising of wind estimate topic
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- if it's not estimating wind it won't publish it below (was fixed)
Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-21 18:46:58 +01:00
d2ebb0c7a2
ekf2: advertise wind topic early to make sure ekf2 get the first instance
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-21 18:46:58 +01:00
1abf90c6d4
EKF2 only publish wind_estimate if wind velocity is being estimated
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- refactor body wind velocity calculation
2018-03-15 07:18:58 +01:00
279b66bfbd
ekf2: use new Param class
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reduces RAM usage by 1.3KB
2018-03-13 17:35:15 +01:00
458db2e508
vehicle_global_position remove redundant evh and evv
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- vehicle_status_flags condition_global_velocity_valid is also unnecessary
2018-03-05 13:20:28 -05:00
Daniel Agar