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22,319 Commits 852 Branches 161 Tags
889fb300296a0ff481548350f59185ffa24be763
Commit Graph
194 Commits
Author SHA1 Message Date
Paul Riseborough 889fb30029 ekf2: Improve control of magnetometer bias learning 
Adds parameters so that the motion checks used to switch between magnetic yaw and 3-axis fusion can be adjusted.
Modifies the check used to determine if learned mag biases  can be saved. A cumulated calibration time is used rather than continuous calibration time to allow for for switching in and out of 3-axis fusion mode that is required to do calibration.
 2017-05-20 10:24:08 +02:00
Paul Riseborough aa69ae0ee6 ekf2: Add preflight checking of velocity and height innovations 
Filters the vertical position and 3-axis velocity innovations and sets the local and global position as invalid if they exceed limits during ARMING_STATE_STANDBY.
 2017-05-20 10:24:08 +02:00
Paul Riseborough 2d34a3e096 ekf2: monitor estimator time slip 
Used to check if the ekf2 module is failing to keep up with the IMU data
 2017-05-20 10:24:08 +02:00
Paul Riseborough 5bfe6d7fec ekf2: Fix failure to save mag declination 2017-05-03 08:37:14 +02:00
Paul Riseborough b64e40b5da ekf2: format fixes 2017-05-03 08:37:14 +02:00
Paul Riseborough 46ece548cd ekf2: Changes following code review 2017-05-03 08:37:14 +02:00
Paul Riseborough 6474922224 ekf2: Save learned magnetometer biases 2017-05-03 08:37:14 +02:00
priseborough 1f5908786e ekf2: don't publish estimator status and innovations unless updated 2017-05-03 08:37:14 +02:00
priseborough fb6e050b06 ekf2: Improve error reporting 
Add missing velocity accuracy reporting
Add missing dead reckoning reporting
 2017-05-03 08:37:14 +02:00
Paul Riseborough 9983bf2364 ekf2: fix errors in publishing of local position origin validity flags 2017-05-01 17:23:11 +02:00
ChristophTobler 6c15666368 ekf2: accept min/max range 2017-04-27 21:15:47 +02:00
Paul Riseborough ed9a9b772e ekf2: minimum change required to use updated ecl library 2017-04-21 08:34:19 +02:00
Beat Küng eaa9e6a019 ekf2: set att.timestamp to now in replay mode before ekf is initialized 
logger will always log this topic, and a 0 timestamp will look worse in
FlightPlot. This will show a period of 0 attitude instead before ekf
is initialized.
 2017-03-04 22:47:54 +08:00
Beat Küng aabdc4125b ekf2: publish ekf2_timestamps topic 2017-03-04 22:47:54 +08:00
Beat Küng 2220c3a60d ekf2: use sensors timestamp for published topics when in replay mode 
when doing fast replay, hrt_absolute_time() will not match the replayed time
thus we just use the same timestamp as the input sensors.
 2017-03-04 22:47:54 +08:00
Beat Küng 018846fadf ekf2_replay.msg: use timestamp instead of time_ref, remove unused time_usec_vel 2017-03-04 22:47:54 +08:00
Daniel Agar ecb2511a7b add matrix copyTo 2017-02-25 11:04:02 +01:00
Roman 4bffb1478f ekf2: added parameter for range sensor pitch offset 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 22:21:41 +01:00
Kabir Mohammed 7236bafee1 ekf2 : move to new vision topic 2017-02-15 21:48:33 +01:00
Daniel Agar e927f3e040 clang-tidy modernize-use-nullptr 2017-02-01 22:15:50 -05:00
Paul Riseborough 27e6f07485 ekf2: publish control state gyro bias data 2017-01-19 19:24:52 +01:00
Lorenz Meier 50002a0ff6 Update EEKF2 to match ecl updates 2017-01-15 01:57:38 -08:00
Lorenz Meier b7f5a33c90 EKF2: Code style and efficiency 
Its sufficient to use sqrtf() with floating point resolution and its better to use the Matrix library call for local and global position yaw
 2016-12-25 18:15:51 +01:00
Matthias Grob 537f72073d minor: uppercase typo and unused header 2016-12-20 09:46:36 +01:00
Roman 1e1bf7e4bb ekf2 reset: fix sign of delta altitude for global position topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
Roman d4c87d62f1 fixed code style 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-21 07:29:21 +01:00
tumbili 0e481a5d00 ekf2: publish state reset information 2016-11-21 07:29:21 +01:00
Paul Riseborough 9ff1feb92f ekf2: fix formatting 2016-11-15 23:58:05 +01:00
Paul Riseborough 056ac3c9c6 EKF: Update default value for sideslip fusion noise 
Use value obtained from tuning on replay logs
 2016-11-15 23:58:05 +01:00
Paul Riseborough 680a8f0b44 ekf2: fix rebase compile errors 2016-11-15 23:58:05 +01:00
CarlOlsson 72ad6627e1 updated beta noise 
Conflicts:
	src/modules/ekf2/ekf2_params.c
 2016-11-15 23:58:05 +01:00
CarlOlsson e4f5710ec3 added logic for beta fusion 2016-11-15 23:58:05 +01:00
CarlOlsson f00f6e6eff added parameter for when to fuse sideslip 2016-11-15 23:58:05 +01:00
CarlOlsson d550290e63 modified ekf2_main.cpp 2016-11-15 23:58:05 +01:00
Paul Riseborough 246dc5421b ekf2: remove unnecessary variables found during review 2016-11-08 11:17:07 +01:00
Paul Riseborough 0ee75dbc6b ekf2: Allow adjustment of min arrival time delta parameter 2016-11-08 11:17:07 +01:00
Paul Riseborough 5ac73f3440 ekf2: code style fixes 2016-11-08 11:17:07 +01:00
Paul Riseborough 699edd2535 ekf2: Prevent loss of baro data due to buffer time arrival checks 
Baro data arriving too soon after the last measurement due to a high sampling rate or timing jitter is rejected inside the ecl EKF to prevent the data buffer overflowing.
This patch checks the timestamp difference from the last measurement, and if to small, the data is accumulated and the average sent to the EKF when the time delta
is acceptable.
 2016-11-08 11:17:07 +01:00
Paul Riseborough ef7ed97cbd ekf2: Don't send un-usable mag and baro data to the EKF 
Fixes:

1) Invalid data with a zero time stamp could be the EKF ends up in the data buffers and result in loss of 'good' data from the buffers

2) Magnetometer data was arriving at a rate faster than the data buffers could handle resulting in loss of data.
 2016-11-08 11:17:07 +01:00
Beat Küng d1a3261e81 ekf2_main: reduce stack (according to the reductions in the commit before) 2016-11-06 14:48:20 +01:00
Beat Küng 5bcfa3c7e6 ekf2_main: add {} to limit variable scope and save stack 
Reformatting makes it look worse than it is, but it really only adds {}
 2016-11-06 14:48:20 +01:00
Beat Küng cc27d2a1e0 ekf2_main: move subscriptions into main thread & call orb_unsubscribe at the end 2016-11-06 14:48:20 +01:00
Beat Küng 53cf27eb84 ekf2_main: some cleanup of redundant fields 2016-11-06 14:48:20 +01:00
Beat Küng 7c6d99d30f BlockParam: remove _extern_address and create a new class BlockParamExt for this 
In most cases, _extern_address was unused, thus wasting cycles & RAM. This
adds a separate class BlockParamExt with the field and uses it in ekf2_main

Frees roughly 0.5KB of RAM on Pixracer
 2016-10-23 15:25:20 +02:00
Paul Riseborough 06ad477847 ekf2: publish vibration metrics 2016-10-22 12:03:05 +02:00
Roman a978d61d9a attitude message cleanup: more cleanup 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Lorenz Meier 526fb8f515 Remove q_valid flag from attitude topic 2016-10-18 20:46:08 +02:00
Roman b8a219d351 removed comments and fixed some euler bugs 2016-10-18 20:46:08 +02:00
tumbili 5e0e522903 adapted to new vehicle attitude message 2016-10-18 20:46:08 +02:00
Paul Riseborough 865b6404ec ekf2: reduce default output predictor time constant 2016-10-13 09:06:41 +02:00