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8,075 Commits 852 Branches 161 Tags
77ca6fa8a3d3990bf75a02da70b25c7a0c6ae91e
Commit Graph
126 Commits
Author SHA1 Message Date
Lorenz Meier 77ca6fa8a3 Merge pull request #1142 from PX4/simon_test 
EKF filter update
 2014-07-07 14:09:29 +02:00
Lorenz Meier 54b55c37c7 Reduce excessive stack sizes for FW estimation / control apps 2014-07-06 17:33:50 +02:00
Lorenz Meier 2ec635dd1c Update estimator 2014-07-03 13:30:20 +02:00
Lorenz Meier 73d7c8e383 Merge branch 'master' of github.com:PX4/Firmware into simon_test 2014-07-03 13:26:59 +02:00
Lorenz Meier 76aa871a71 estimator: Fixed body / world matrix initialization and reset 2014-07-03 00:26:33 +02:00
Don Gagne 92adbe9216 Fix compiler warnings 2014-06-29 17:47:24 -07:00
Lorenz Meier 28a31708f9 Merged estimator fixes and mavlink rate config bits 2014-06-30 00:46:29 +02:00
Don Gagne d5b5dcef24 Fix bugs found through compiler warnings 2014-06-29 12:01:43 -07:00
Lorenz Meier 628477ee2c Update estimator from Paul 2014-06-29 14:01:58 +02:00
Lorenz Meier 0426fd3a52 estimator: Fix local variable compile warnings. 2014-06-29 12:59:04 +02:00
Lorenz Meier 2b32414709 estimator: Move symmetry force outside of non-related loop, improving efficiency and resolving a locals warning. 2014-06-29 12:13:40 +02:00
Lorenz Meier d93a64dd09 estimator: Geo conversions: Fix float / double types to prevent warnings. Fix calcLLH to actually return a value. 2014-06-29 12:08:28 +02:00
Lorenz Meier ccdfb19a4a estimator: Fix double promotion warnings by appropriate constants / casts. 2014-06-29 12:05:27 +02:00
Lorenz Meier b64c64d5a3 Observation index cannot get negative. 2014-06-29 12:00:54 +02:00
Lorenz Meier 092ede366a Estimator: Clean up delta quat calculations, put them in a sweet spot between accuracy and runtime. 2014-06-29 11:55:44 +02:00
Lorenz Meier cd2ef000eb More safe compile warning fixes 2014-06-29 11:35:27 +02:00
Lorenz Meier 91bba668f6 Define earth radius as double, as our calculations relying on it need double precision. 2014-06-29 11:27:43 +02:00
Lorenz Meier 336fc2fcf5 Fix compile warnings in estimator 2014-06-29 11:27:09 +02:00
Thomas Gubler 0a78206d71 att pos estimator: silence annoying messages 2014-06-28 18:45:52 +02:00
Thomas Gubler f0a21c4f5f Merge remote-tracking branch 'upstream/navigator_rewrite' into navigator_rewrite_estimator 
Conflicts:
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
 2014-06-28 17:22:24 +02:00
Thomas Gubler 045ee8c7c7 Merge remote-tracking branch 'upstream/mtecs' into navigator_rewrite 2014-06-28 17:20:44 +02:00
Lorenz Meier 196edd8a4f estimator: Fix minor reporting issues 2014-06-28 12:12:08 +02:00
Thomas Gubler d45cc69d1d mtecs/wind: store wind variance 2014-06-27 21:44:56 +02:00
Lorenz Meier 12c2802fa3 estimator: Use the right perf counters to measure the quantities we are interested in 2014-06-27 16:23:53 +02:00
Lorenz Meier efb20d50bd estimator: Use improved error reporting API 2014-06-27 15:01:19 +02:00
Lorenz Meier 6951e1c95e estimator lib: Improve error reporting 2014-06-27 15:00:48 +02:00
Lorenz Meier 3195eb1005 estimator: Remove bogus timeout flag, do not reset states not in need of a reset. Do not alter baro offset or GPS positions. 2014-06-27 13:35:23 +02:00
Lorenz Meier 615277d346 Better comments in estimator 2014-06-27 13:29:04 +02:00
Lorenz Meier 7f41ec52f1 estimator: Introduce debug level to allow high-res bench debugging - set with ekf_att_pos_estimator debug <level, e.g. 100> 2014-06-24 20:48:18 +02:00
Lorenz Meier 32319722a6 Retry fusion sooner on failures 2014-06-24 20:47:22 +02:00
Lorenz Meier ac319a7240 23 state estimator: Prepare GPS accel init (not yet active), clean up init calls 2014-06-22 16:51:48 +02:00
Lorenz Meier 1018dec246 estimator: Get offsets under control, prepare GPS acceleration based initialization, but do not activate it yet 2014-06-22 16:51:02 +02:00
Lorenz Meier 0673740e0e Initialize velNED fields correctly, preventing a bogus initial filter reset 2014-06-21 19:44:30 +02:00
Lorenz Meier 6bab694e45 estimator: Improve error reporting and status printing (less flash, better resolution), move check and reset logic to a position AFTER the filter init. Do not externally zero the filter on resets but let the reset logic handle this. 2014-06-21 19:44:09 +02:00
Thomas Gubler 80e95c628c Merge remote-tracking branch 'upstream/mtecs_estimator' into navigator_rewrite_estimator 2014-06-15 14:46:55 +02:00
Thomas Gubler 0700a4f6b8 att pos estimator: correctly initialize fusionModeGPS variable, this makes the system use gps again and hence fixes the huge drift problems 2014-06-15 14:46:30 +02:00
Thomas Gubler 2f9415ffd8 Merge remote-tracking branch 'upstream/mtecs_estimator' into navigator_rewrite_estimator 2014-06-15 12:15:45 +02:00
Thomas Gubler bd8b071875 att pos estimator: on reset use projected gps position instead of [0,0,0] to set position state 2014-06-15 12:15:25 +02:00
Thomas Gubler eda926d7d5 Merge remote-tracking branch 'upstream/mtecs_estimator' into navigator_rewrite_estimator 2014-06-15 10:56:29 +02:00
Thomas Gubler de5c3580b3 adding individual warnings for all defined reset conditions 2014-06-15 10:56:07 +02:00
Thomas Gubler d4f9914d19 Merge remote-tracking branch 'upstream/mtecs_estimator' into navigator_rewrite_estimator 2014-06-13 23:38:17 +02:00
Lorenz Meier a419a2ebf3 Report excessive covariances 2014-06-12 15:57:13 +02:00
Lorenz Meier 3685ec5c97 Loosen velocity threshold to 20 m/s to only catch the really bad instances and let the system live in peace else 2014-06-12 15:52:15 +02:00
Lorenz Meier 7983e105bf Much more aggressive reset logic bounding the filter effectively 2014-06-12 15:28:21 +02:00
Julian Oes 4247fc7585 Merge remote-tracking branch 'px4/mtecs_estimator' into navigator_rewrite_estimator 2014-06-11 13:16:38 +02:00
Lorenz Meier 5602d5dfa3 New gyro offset based divergence detection and protection. Pending flight tests 2014-06-10 23:14:57 +02:00
Thomas Gubler a89ed8eed9 Merge remote-tracking branch 'upstream/mtecs_estimator' into navigator_rewrite_estimator 2014-06-10 22:50:30 +02:00
Lorenz Meier 2219dd3fc6 Undo hacking 2014-06-07 20:16:41 +02:00
Lorenz Meier 33f98abf80 Fill error report 2014-06-07 20:16:17 +02:00
Julian Oes 11912e0a5e Merge remote-tracking branch 'px4/mtecs_estimator' into navigator_rewrite_estimator 2014-06-07 17:22:51 +02:00