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Code Issues Packages Projects Releases Wiki Activity
706 Commits 852 Branches 161 Tags
8511754094969848b5bb4910ed2c3e289c04773a
Commit Graph
66 Commits
Author SHA1 Message Date
Paul Riseborough 8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Daniel Agar d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Paul Riseborough 934890c2df EKF: Add validity flag to ekf origin reporting 
Flag is false until the origin has been initialised
 2016-12-28 00:56:09 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough d5b398ddb1 EKF: Minimise data buffer lengths 
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
 2016-11-07 09:06:45 +11:00
CarlOlsson 12aeaafbd3 adopted estimator_interface.h 2016-11-05 12:19:01 +01:00
Paul Riseborough b10b0184c5 EKF: Add IMU vibration calculation and reporting 
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
 2016-10-19 21:46:55 +11:00
Paul Riseborough 352750e5d1 EKF: publish ekf solution status summary data 2016-10-06 09:02:29 +02:00
Paul Riseborough 744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Paul Riseborough 65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Youssef Demitri 168d9add76 added getter function for wind states 2016-07-22 12:33:41 +02:00
Roman Bapst bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst 670c6ca019 change state reset information interface for more convenient handling 
on firmware side
 2016-06-06 13:22:20 +02:00
Paul Riseborough 6a55d908c5 EKF: replace reset event times with event counters 
Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 70f76e1a6c EKF: publish innovation consistency check fail status 2016-06-01 17:13:00 +10:00
Paul Riseborough e371a303a9 EKF: publish the quaternion reset event 2016-06-01 17:13:00 +10:00
Paul Riseborough b2e432e211 EKF: publish position and velocity reset data 2016-06-01 17:13:00 +10:00
Paul Riseborough 733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough 4237269fab EKF: add struct to capture state reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough 65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 8125717bf5 EKF: remove un-used airspeed health class variable 
Airspeed rejection now is captured in _sensor_fault_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 106482b078 EKF: add structure to capture innovation test failures and state resets 2016-06-01 17:13:00 +10:00
Paul Riseborough d5b5cb5899 EKF: improvements to observation collection 
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
 2016-05-26 13:27:08 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
waltjohnson 7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough 81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 3cdf56e57c Merge pull request #122 from CarlOlsson/airspeed_fix 
fixed_airspeed_healthy_bug
 2016-05-09 10:24:22 +10:00
CarlOlsson ee7d7aeb8a fixed_airspeed_healthy_bug 2016-05-08 18:30:37 +02:00
Paul Riseborough c66ed7b662 EKF: Add interface method for filter fault status 2016-05-07 21:18:00 +10:00
Paul Riseborough 020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +10:00
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough 10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Lorenz Meier 9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
EKF: improve reporting of filter status
 2016-04-20 11:44:02 +02:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough 6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
CarlOlsson 81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00