25 Commits

Author	SHA1	Message	Date
Lorenz Meier	2542722102	Fixed selective publication update	2013-01-19 17:11:12 +01:00
James Goppert	4b2d1690d3	Set kalman_demo to only publish when it has valid info.	2013-01-18 10:21:20 -05:00
James Goppert	13bb814f20	Prevented attitude correction from changing velocity when pos not init.	2013-01-17 12:18:20 -05:00
James Goppert	ded442fd19	Added position initialization.	2013-01-16 13:27:04 -05:00
jgoppert	f8811649cb	Controller/ EKF tuning.	2013-01-16 00:24:14 -05:00
jgoppert	ce3f835c63	Mag and velocity measurement fix. Fault detection working.	2013-01-15 23:36:01 -05:00
James Goppert	68a6a64213	Working on velocity errors.	2013-01-15 18:25:08 -05:00
James Goppert	afb69cd054	Reducing pos/att correction update rates for debugging.	2013-01-15 15:11:24 -05:00
James Goppert	28ef7aa1be	Refactored RPos. Increased global pos output rate for debugging.	2013-01-15 14:03:04 -05:00
James Goppert	68b92cd4fc	Slowed HIL status updates. Also prevented posCor. when gps not init.	2013-01-15 13:21:13 -05:00
James Goppert	9cf3d51aec	Made fault tolerances adjustable.	2013-01-15 13:12:00 -05:00
James Goppert	edf0a6bae7	Added check for valid attitude data.	2013-01-15 12:37:12 -05:00
James Goppert	022c30ea4f	Enabled kf to run w/o gps.	2013-01-15 12:17:09 -05:00
James Goppert	8b6660fc36	Fixed param issue.	2013-01-15 11:16:28 -05:00
James Goppert	d02a24ec82	Adding comments to ekf.	2013-01-15 11:00:52 -05:00
James Goppert	5b0aa490d6	Added P0. Hid some printing. Corrected fault detection.	2013-01-14 18:38:32 -05:00
James Goppert	c49320a03e	Working on fault detection tolerances.	2013-01-14 13:49:30 -05:00
James Goppert	a13cf90e0a	Increased KF process noise.	2013-01-14 13:12:01 -05:00
jgoppert	f2d2aafb8d	Fault detection working, but GPS velocity measurement causing fault. ... Possible error in HIL script or progpagation/ F matrix of EKF.	2013-01-14 01:32:34 -05:00
jgoppert	3db216380b	Changing measurement units for gps, not working well yet.	2013-01-14 01:09:02 -05:00
James Goppert	5745cfae38	Tracking down gps ekf bug, not enough precision for GPS in rad.	2013-01-13 21:12:24 -05:00
James Goppert	63e6ea1b95	Changed fault tolerances.	2013-01-13 19:51:40 -05:00
James Goppert	e3d0e0216b	Fixed comment.	2013-01-13 19:05:58 -05:00
James Goppert	464c5245f2	Rebase of changes to sensor_hil_fixedwing branch.	2013-01-13 17:25:45 -05:00
jgoppert	23e8d0b467	Added kalman_demo. This is an attitude/position EKF example.	2013-01-06 16:05:06 -05:00