tumbili
6739ae9dfc
ekf2: substract gyro bias from control state rates
...
Signed-off-by: tumbili <roman@px4.io>
2016-06-22 07:10:20 +02:00
CarlOlsson
d66af65a92
ekf2: fixed airspeed thr bug
2016-06-14 10:28:40 +02:00
tumbili
b9e9f62bee
code style formatting
2016-06-08 17:14:33 +02:00
CarlOlsson
acea2f98d5
log airspeed in rpl mode even if it is not fused
2016-06-08 17:12:05 +02:00
CarlOlsson
9c170f7fae
added parameter which defines threshold for airspeed given to the filter
...
remove unnecessary replay fields
2016-06-08 17:11:10 +02:00
Paul Riseborough
ac50510c78
ekf2: Use parameter defined values for EV noise if vision system estimates not available
2016-05-28 14:54:14 +02:00
Paul Riseborough
37b4955f07
ekf2: Add use and logging of external vision data
2016-05-28 14:54:14 +02:00
Paul Riseborough
57c1138d28
ekf2: add parameters for control of external vision fusion
2016-05-28 14:54:14 +02:00
Lorenz Meier
d8bcd77290
EKF2: Remove unused header
2016-05-21 14:10:49 +02:00
Paul Riseborough
83cc9ef496
ekf2: Enable tuning of initial tilt alignment uncertainty
2016-05-18 12:44:04 +10:00
Paul Riseborough
7d2d15643d
ekf2: Add tuning for IMU switch-on bias errors
2016-05-18 12:44:04 +10:00
Paul Riseborough
3aa2297497
ekf2: Add parameters to control output filter
2016-05-14 11:24:41 +02:00
CarlOlsson
88800b9e36
added tas_innov_gate to params
2016-05-13 13:55:57 +02:00
Julian Oes
7d64aa8057
ekf2: raise stack size on Snapdragon
...
It seems that the stack size was exhausted on Snapdragon.
2016-05-11 14:53:55 +02:00
Paul Riseborough
4480e4206d
ekf2: remove use of arm status
2016-05-11 14:53:55 +02:00
Paul Riseborough
af9a7a39f2
ekf2: add handling of filter internal fault message
2016-05-11 14:53:55 +02:00
Paul Riseborough
2c6b7a008f
ekf2: Update tuning parameters
...
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
Paul Riseborough
7f1632d65b
ekf2: correct control state message for 3D acc bias
2016-05-11 14:53:55 +02:00
CarlOlsson
6b5e77250f
ekf2: Added airspeed to rpl logging
2016-05-10 21:32:55 +02:00
tumbili
57f73e59b7
warn immediately if ekf2 instance allocation has failed
2016-05-03 16:09:26 +02:00
tumbili
9f5e9594f5
implement ekf instance and block parameter instance as class members
...
in order to avoid memory management
2016-05-03 16:09:26 +02:00
Julian Oes
99286cf1bd
ekf2: replace !isnan with PX4_ISFINITE ( #4374 )
2016-04-26 22:15:30 +02:00
Paul Riseborough
631040b30b
ekf2: publish filter control mode status
2016-04-20 21:47:29 +02:00
Paul Riseborough
07eb4feed8
ekf2: publish GPS check status
2016-04-20 21:47:29 +02:00
tumbili
d227c61246
update all fields of the control state message
2016-04-19 13:25:41 +02:00
Sebastian Verling
184a2fa7de
publishing velocity and position to control state in ekf2
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2016-04-19 13:25:41 +02:00
Roman
c6668cae6c
provide ekf2 with eas2tas factor
2016-04-19 11:20:57 +02:00
Paul Riseborough
25dbb5d628
ekf2: Add missing tuning parameters
2016-04-18 11:15:38 +02:00
Paul Riseborough
66fe3ab583
ekf2: Use corrected local position and velocity
...
Corrects for IMU offset from body frame origin
2016-04-18 11:15:38 +02:00
Paul Riseborough
43e56f9fdc
ekf2: Add tuneable parameters for sensor positions
2016-04-18 11:12:09 +02:00
Paul Riseborough
7acd5fda22
ekf2: send flow sensor yaw rate data
2016-04-18 11:12:09 +02:00
Lorenz Meier
40546647b3
Update EKF2 interface
2016-04-17 16:21:49 +02:00
Lorenz Meier
236304b929
Update EKF2 version
2016-04-17 16:16:29 +02:00
Julian Oes
08ce231d76
ekf2: compile fixes after rebase
2016-04-11 18:01:49 +02:00
Julian Oes
f21f82223c
ekf2: fix stupid bug caught by travis on Mac
2016-04-11 18:01:49 +02:00
Julian Oes
1f44fb1efd
commander: internalize system status bools
...
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
Paul Riseborough
e66a3bd99f
ekf2: incorporate fixes to covariance prediction and initialisation
...
Update ecl library reference.
Update default parameters
2016-04-05 19:08:39 -07:00
CarlOlsson
16dea15d54
AStyle
2016-04-05 16:23:26 -07:00
CarlOlsson
7c88d599ee
publish wind_estimate topic
2016-04-05 16:23:25 -07:00
tumbili
08be5b3f3a
fixed formatting
2016-04-01 13:54:47 +02:00
tumbili
4da93a316d
ekf2 replay logic:
...
support recent change in ekf2 module which made it only publish the output
when an ekf update was occuring. in case the ekf2 module does not update
the replay module will be informed and will thus not wait for an update
but continue preparing the next sample of sensor data
2016-04-01 13:54:46 +02:00
tumbili
2f48317a9e
ekf2: publish indicated airspeed in control state topic
2016-03-31 14:03:42 +02:00
CarlOlsson
3af01a8c5e
adopted ekf2_main.cpp
2016-03-30 17:33:37 +02:00
Julian Oes
bba0d0384d
drivers/modules: changes after mavlink_log change
...
The mavlink_log API changes lead to changes in all drivers/modules using
it.
2016-03-24 13:10:02 +01:00
Paul Riseborough
75ebdda179
ekf2: Improved publishing rules
...
If the ekf has not completed alignment or encounters a serious error that produces NaN's on the attitude states, then the control, attitude and position topics are not published
The control topic is published first to reduce latency
2016-03-19 19:07:23 +04:00
MaEtUgR
d1e0cbe325
fixing all "argc < 1" to avoid segmentation fault when calling the module with no parameters
...
argc is never smaller than one because the first element of the array is the program name!
2016-03-13 17:52:33 +01:00
Paul Riseborough
c037b30aeb
ekf2: add missing GPS status data to ekf2 replay
2016-03-13 17:47:56 +01:00
Roman
8e1b824ecb
ekf2 app: only copy flow and range into replay message if they updated
2016-03-13 17:47:56 +01:00
Roman
181a5fd60d
ekf2 app: only publish gps in replay if updated
2016-03-13 17:47:56 +01:00
Paul Riseborough
b1f656c4b8
ekf2: Add optical flow and range finder data to ekf2 replay logging
2016-03-13 17:47:56 +01:00
