96f47d4772
EKF2 add perf counters ( #9795 )
2018-06-28 17:28:03 -04:00
366e36a07b
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
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
9e567cadd6
ekf2: Update parameter description
2018-06-09 13:38:04 +02:00
2e92484325
ecl update to latest master with separate libraries ( #9406 )
2018-05-03 23:48:09 -04:00
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
29b3950747
move geo and geo_lookup to PX4/ecl
2018-03-26 23:16:55 -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
b9081fb0ab
vehicle_global_position delete unused pos_d_deriv
2018-03-05 01:41:18 -05:00
4c4f990b3b
EKF2 remove FW_ARSP_MODE check
2018-03-02 08:58:08 +01:00
fc78de4c26
ekf2: Update parameter descriptions for air data fusion
2018-01-29 22:30:34 +01:00
f866698fb2
ekf2: Update parameter description for max optical flow rate
2018-01-29 22:30:34 +01:00
b117fddb21
ekf2: publish estimator position control limits
2018-01-29 22:30:34 +01:00
66c67f89e6
ekf2: check if vision_position pos/vel are valid before using them
2018-01-15 11:11:56 +01:00
c7cf442e16
ekf2: use ev eph/v for noise parameter if bigger than noise param
2018-01-15 11:11:56 +01:00
d9b9b4407a
ekf2 : add support for precision landing measurement fusion
2018-01-15 10:27:23 +01:00
7b1b255158
EKF2 set zero unused estimator_status fields
2018-01-12 23:19:46 +01:00
73348b6c4e
EKF2: Update param metadata
2018-01-08 09:27:22 +01:00
ca0267b4e9
EKF: Add required flags to parameters
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This marks the learned bias parameters as volatile (as they change in flight without external configuration) and marks them as system level, which should hide them by default from the UI
2018-01-08 09:27:22 +01:00
84d7eb2900
ekf2: added beta test ratio to estimator_status
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2018-01-02 22:36:42 +01:00
925c65b4d5
ekf2: add beta innovation gate to parameters
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-12-21 04:02:10 +08:00
4bd7d62b5c
ekf2: update AID_MASK bitmask comment for QGC
2017-12-20 05:22:11 +08:00
324c5151e7
ekf2: use local scope for control mask variable
2017-12-08 07:43:13 +00:00
b812f95a77
ekf2: Adjust pre-flight check level
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Reduce max yaw error when not using global frame aiding data to prevent large yaw yaw changes after takeoff.
2017-12-08 07:43:13 +00:00
ded9ca13e4
ekf2: Reduce sensitivity of preflight yaw check when not doing absolute aiding
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When the EKF is not fusing in observations from the NE global reference frame, the tolerance to yaw errors is much higher. This changes will prevent false triggering of the preflight fail check when operating indoors without GPS where mag field errors can be high.
2017-12-08 07:43:13 +00:00
fc80be0917
ekf2: improve preflight checks and publish status
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Separate the vertical and horizontal checks for use by local position validity reporting
Add checking of yaw using a decaying envelope filter to the horizontal checks.
Publish the check result to estimator_status topic.
2017-12-04 09:09:54 +00:00
d1a4c2dcd0
cmake handle git submodule depdencies
2017-11-23 00:22:45 -05:00
44a71ad6c9
ekf2: Update parameter descriptions ( #8292 )
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Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
2017-11-15 09:19:08 -05:00
a410893080
ecl: Update ekf2 to version that addresses known vulnerabilities
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See:
https://github.com/PX4/ecl/pull/350
https://github.com/PX4/ecl/pull/354
Note the amount of stack allocation has had to be increased to accomodate pr350
2017-11-13 22:50:12 +01:00
0a58bd309c
EKF2 always publish status message ( #8234 )
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* EKF2 always publish status message
* EKF2 fix comment typo
* EKF2 time slip use signed int and consolidate
* EKF2 minor readability improvements
2017-11-08 07:55:50 +11:00
589d58ce87
ekf2: Fix bug preventing first IMU failover bias reset
2017-10-30 08:21:09 +01:00
0c9e07c95a
ekf2: repeat IMU bias reset until successful
2017-10-30 08:21:09 +01:00
e5ead354f0
EKF2 reset IMU bias if the accel or gyro changes
2017-10-29 16:24:31 +01:00
3fc7aba178
TECS: Use version in ECL library
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This change updates a number of interfaces to use the new TECS implementation from the ECL library.
2017-10-22 21:56:06 +02:00
d7c8d53489
use get() for BlockParam
2017-10-18 11:08:58 +02:00
40b8d8bd48
use distance to ground if on ground an distance is out of range
2017-10-18 11:08:58 +02:00
ed950d70ce
ekf2: Add missing documentation
2017-10-09 08:58:01 +02:00
dbc3a13236
ekf2: remove unused parameter
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The logging of replay data is now controlled by the logging module
2017-10-09 08:58:01 +02:00
6cfee65060
ekf2: Add parameters to tune accelerometer bias learning
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These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
2017-10-09 08:58:01 +02:00
Daniel Agar