Paul Riseborough
6bdbe032f9
EKF: Fallback to optical flow for all in-flight loss of navigation scenarios
2018-06-09 22:23:55 +02:00
Mohammed Kabir
b4d2b8c57d
EKF : introduce new architechture for navigation limits
2018-06-09 22:23:55 +02:00
Paul Riseborough
8a713398cb
EKF: Improve ground effect compensation
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Start deadline at zero so that initial rotor wash effect is rejected.
2018-06-09 22:23:55 +02:00
Paul Riseborough
39697f1196
EKF: rework optical flow switching
2018-06-09 22:23:55 +02:00
Paul Riseborough
1cfe845751
EKF: rework GPS quality check
2018-06-09 22:23:55 +02:00
Paul Riseborough
99a80387ed
EKF: improve optical flow GPS quality checking
2018-06-09 22:23:55 +02:00
Paul Riseborough
7f36add241
EKF: scale GPS vertical accuracy check when using optical flow
2018-06-09 22:23:55 +02:00
Paul Riseborough
fc9f532c34
EKF: relax range finder data continuity check
2018-06-09 22:23:55 +02:00
Paul Riseborough
93c456f2b8
EKF: Improve protection against badly conditioned dVel bias covariances
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Reduces likelihood of Z delta velocity bias learning to wrong value.
2018-06-09 22:23:55 +02:00
Paul Riseborough
225057aaf5
EKF: Fix bug preventing use of terrain estimator
2018-06-09 22:23:55 +02:00
Paul Riseborough
adb4a09beb
EKF: Fix bug causing large yaw innovations when GPS is lost
2018-06-09 22:23:55 +02:00
Paul Riseborough
f59cd0f5b0
EKF: Don't make detection of indoor operation dependent on optical flow
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This is required because it can take several seconds for an optical flow sensor operation to be confirmed and there are also many use cases for indoor operation where no optical flow is used.
2018-06-09 22:23:55 +02:00
Paul Riseborough
1562a82dc2
EKF: Add parameter to adjust on-ground movement detector sensitivity
2018-06-09 22:23:55 +02:00
Paul Riseborough
ea9e8246ed
EKF: Improve detection of indoor flight condition
2018-06-09 22:23:55 +02:00
Paul Riseborough
565f99254c
EKF: Reduce effect of yaw gyro bias when using optical flow indoors
2018-06-09 22:23:55 +02:00
Paul Riseborough
e10798bfdf
EKF: Add on ground movement detector
2018-06-09 22:23:55 +02:00
Paul Riseborough
2d3b65231b
EKF: Reset yaw gyro bias learning when resuming use of magnetometer
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The previous lack of yaw drift constraint will also mean that the yaw gyro bias estimate is likely to be incorrect and needs to be re-learned.
2018-06-09 22:23:55 +02:00
Paul Riseborough
8191068959
EKF: Don't start using mag if optical flow use is interrupted
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If magnetometer use is being inhibited because an indoor condition has been detected (optical flow and poor or no GPS) and the optical flow fusion checks fail causing the EKF to stop navigating, we do not want the EKF to start using the magnetometer.
2018-06-09 22:23:55 +02:00
Paul Riseborough
4889e8432c
EKF: Don't fuse multi rotor drag if yaw angle is bad
2018-06-09 22:23:55 +02:00
Paul Riseborough
092a8d8f21
EKF: Fix GPS validity time check error
2018-06-09 22:23:55 +02:00
Paul Riseborough
0160aaa568
EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing
2018-06-09 22:23:55 +02:00
Paul Riseborough
84516760c0
EKF: Use stricter GPS accuracy test when optical flow is being used
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This adds some hysteresis to the automated optical flow selection and also reduces likelihood of bad GPS being used when operating indoors,
2018-06-09 22:23:55 +02:00
Daniel Agar
a80b3ab610
set MODULE define for each library
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- this is needed for INFO, WARN, ERR messages when used within PX4
2018-05-27 20:08:47 +02:00
Daniel Agar
50631e5d98
geo remove use of DBL_EPSILON
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-this doesn't seem to be (obviously?) available on qurt
2018-05-21 10:59:40 +02:00
Daniel Agar
cb63f16d48
cmake cache ECL source directory path to work with catkin ( #447 )
2018-05-17 12:01:30 -04:00
Bart Slinger
bae4b8a5e7
remove superfluous elseif ( #431 )
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* remove superfluous elseif
* Set ev_hgt flag false when starting on baro
2018-05-11 08:38:42 +10:00
Paul Riseborough
16976d3911
Merge branch 'pr-ekfOptFlowFixes'
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* pr-ekfOptFlowFixes:
EKF: fix bug causing height offset when GPS use stops
EKF: Don't reject saturated flow data when it is the only aiding source
EKF: Prevent flow motion check false positives
EKF: Don't assume large position uncertainty when starting optical flow nav
EKF: relax terrain update requirements for continuing optical flow use
EKF: Relax minimum required range finder measurement rate
EKF: relax optical flow on ground motion checks
EKF: range finder aiding logic fixes
EKF: Decouple range finder use criteria checking and selection
EKF: Don't auto select range finder for height when on ground.
EKF: Fix false triggering of optical flow bad motion checks
EKF: update comments
EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height
EKF: Stop using EV for yaw when GPS fusion starts
EKF: Add persistence criteria to GPS fail check
EKF: allow GPS fallback if quality bad and alternative aiding available
EKF: always run GPS checks
2018-05-11 08:22:14 +10:00
Paul Riseborough
75e65901ae
EKF: fix bug causing height offset when GPS use stops
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This bug causes the last vertical velocity observation to be continuously fused.
2018-05-10 10:55:56 +02:00
Paul Riseborough
e8e9e34a73
EKF: fix bug causing height offset when GPS use stops
...
This bug causes the last vertical velocity observation to be continuously fused.
2018-05-10 13:45:19 +10:00
Paul Riseborough
6cadc92285
EKF: Don't reject saturated flow data when it is the only aiding source
2018-05-10 07:11:59 +10:00
Paul Riseborough
bf902e5eca
EKF: Prevent flow motion check false positives
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The previous implementation could false trigger if there was significant vibration below 200Hz during startup.
2018-05-09 07:47:17 +10:00
Paul Riseborough
bdf5b3e003
EKF: Don't assume large position uncertainty when starting optical flow nav
2018-05-08 08:43:56 +10:00
Paul Riseborough
e26711af7d
EKF: relax terrain update requirements for continuing optical flow use
2018-05-08 08:43:14 +10:00
Paul Riseborough
868bc01087
EKF: Relax minimum required range finder measurement rate
2018-05-08 08:43:14 +10:00
Paul Riseborough
02963a85c4
EKF: relax optical flow on ground motion checks
2018-05-08 08:43:14 +10:00
Paul Riseborough
24b005ed57
EKF: range finder aiding logic fixes
2018-05-08 08:42:29 +10:00
Paul Riseborough
0c0a6602b0
EKF: Decouple range finder use criteria checking and selection
2018-05-08 08:42:29 +10:00
Paul Riseborough
6708bec1b4
EKF: Don't auto select range finder for height when on ground.
2018-05-08 08:42:03 +10:00
Paul Riseborough
0a63052753
EKF: Fix false triggering of optical flow bad motion checks
2018-05-08 08:42:03 +10:00
Paul Riseborough
f9d4934db6
EKF: update comments
2018-05-08 08:42:03 +10:00
Paul Riseborough
82de3141f0
EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height
2018-05-08 08:42:03 +10:00
Paul Riseborough
389786ef1b
EKF: Stop using EV for yaw when GPS fusion starts
2018-05-08 08:42:03 +10:00
Paul Riseborough
4ab78230e6
EKF: Add persistence criteria to GPS fail check
2018-05-08 08:41:15 +10:00
Paul Riseborough
67d71ca406
EKF: allow GPS fallback if quality bad and alternative aiding available
2018-05-08 08:41:15 +10:00
Paul Riseborough
bd59e381db
EKF: always run GPS checks
2018-05-08 08:40:31 +10:00
Daniel Agar
b227aca4a8
geo_lookup fix table bounds
2018-05-06 03:13:00 +02:00
Daniel Agar
e494a4e634
Jenkins set git username and email with environment variables
2018-05-05 18:11:28 -04:00
Daniel Agar
3639087ac6
cmake and Jenkins add basic address santiizer test buld
2018-05-05 16:11:04 -04:00
Daniel Agar
1fba622a80
travis-ci basic build script
2018-05-05 15:25:54 -04:00
Daniel Agar
cde2ee9b6f
cmake ignore missing-field-initializers
2018-05-05 15:25:54 -04:00
