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Author SHA1 Message Date
priseborough 8ea0b2d3c5 commander: rework posvel validity checks 
Move into functions.
Reset probation time and recalculate checks if a mode change is demanded to give the operator ability to regain control as soon as possible after nav performance is regained. (+11 squashed commits)
Squashed commits:
[a4bb800] commander: enable pilot to quickly recover from loss of position accuracy
[19e16a0] commander: rework postal probation time
[f96284e] commander: rework bad pos and vel test probation time
[00d5f0c] commander: Allow EKF preflight checks to pass with moving vehicle

Separates the 'is using GPS' and the GPS quality checks.
Uses a reasonable subset of the GPS quality checks which allows checks to pass if the vehicle is moving.
[4cdfb5c] commander: remove unused variable
[349385a] commander: add EKF GPS quality checks to pre-arm checking

Only perform check if GPs checking is activated by parameter setting.
Display fault messages that makes it clear if EKF quality checks are failing or the EKF is not using GPS for another reason. We do not want to confuse this with GPS lock.
[340ae29] commander: make position invalid fail-safe more sticky

Require check to pass for 7 seconds before exiting failsafe. This is required because if GPs is failing innovation tests for a prolonged period, the EKF will periodically reset to the GPS and report good accuracy at the time of reset.
Adding this delay gives time for an underlying error condition (eg bad IMU or compass) to be re-detected.
[b04ac95] commander: Increase RAM allocation to eliminate low stack warnings
[9dca12f] commander: add missing position invalid fail-safe responses
[69f264d] commander: Update position invalid fail-safe responses

Replace separate logic for each case with a generic function
Add velocity checks.
[8e8cef1] commander: rework position validity checks

Consolidate existing checks for global and local position validity and add checking of velocity accuracy.
Enable checks to be bypassed using the CBRK_VELPOSERR parameter.
 2017-05-03 08:37:14 +02:00
Paul Riseborough 40160c4488 integrationtests: add wait time before arming to allow checks to pass 2017-05-03 08:37:14 +02:00
priseborough 519e903347 systemlib: Add circuit breaker parameter for position error checks 2017-05-03 08:37:14 +02:00
priseborough e61e733d1d local_position_estimator: publish placeholder values for velocity accuracy 2017-05-03 08:37:14 +02:00
priseborough 3680057e6d ekf_att_pos_estimator: publish placeholder values for accuracy reporting 2017-05-03 08:37:14 +02:00
priseborough 68c1ffd3e5 position_estimator_inav: publish placeholder values for velocity accuracy 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
priseborough e9a3eca751 msg: add velocity accuracy reporting to local position topic 2017-05-03 08:37:14 +02:00
priseborough d0d2c9dcba msg: add velocity accuracy reporting to global position topic 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
Paul Riseborough 7c068e83d8 msg: correct definitions for local position origin validity flags 2017-05-01 17:23:11 +02:00
Paul Riseborough 1843061376 Tools/ecl_ekf: Improvements to ecl log analysis scripts 
Fix error in scaling of population high frequency vibration metrics
Add histograms for delta angle and velocity bias data
Fix variable descriptions
 2017-04-21 08:34:19 +02:00
Paul Riseborough 2a34bde0e9 Tools/ecl_ekf: Update EKF log analysis 
Add assessment of IMU bias and mag field estimation
Reduce warning false positives by adjusting thresholds and eliminating use of peak value plots for output observer monitoring
Clear each figure after saving to reduce memory usage
 2017-04-21 08:34:19 +02:00
Paul Riseborough ed9a9b772e ekf2: minimum change required to use updated ecl library 2017-04-21 08:34:19 +02:00
Paul Riseborough dad2419b21 ecl: Update EKF version 
Miscellaneous bug fixes and improvements including:

More conservative reporting of velocity and position accuracy when aiding is lost
Separate reporting of accuracy for local and global position
Detection and recovery from badly conditioned accel bias states and covariance values
Logic to prevent high manoeuvre levels causing bad acceleration bias learning
Reduce sensitivity of covariance prediction to timing jitter
Continue reporting of GPS quality until the later of airborne or checks pass
Add ability to perform wind estimation for multi-rotors using a specific force drag model
 2017-04-21 08:34:19 +02:00
Paul Riseborough bf06066010 Tools: Add scripts for ecl EKF log file analysis 2017-02-20 07:53:07 +01:00
Paul Riseborough ed5c8913ad events: update documentation for polyfit algorithm 2017-02-20 07:53:07 +01:00
Paul Riseborough 72633ad4c8 events: update documentation for polyfit algorithm 2017-02-16 22:17:47 +01:00
Paul Riseborough 1f4155c208 events: fix code style issues 2017-02-12 09:21:37 +01:00
Paul Riseborough 9858b0b491 sensors: Add calibration control parameters to QGC list 2017-02-12 09:21:37 +01:00
Paul Riseborough 36f83e46ee events: abort calibration if starting temperature is too high 2017-02-12 09:21:37 +01:00
Paul Riseborough 22c8c59829 Thermal Calibration - add parameter required to control max starting temperature 2017-02-12 09:21:37 +01:00
Paul Riseborough 93a70c2d0b systemlib: Fix parameter name error 2017-02-12 09:21:37 +01:00
Paul Riseborough f3d30564ed events: don't start baro calibration until specified temperature achieved 2017-02-12 09:21:37 +01:00
Paul Riseborough e75f2b9cf7 events: don't start accel calibration until specified temperature achieved 2017-02-12 09:21:37 +01:00
Paul Riseborough cdf80a868a events: don't start gyro calibration until minimum temperature achieved 2017-02-12 09:21:37 +01:00
Paul Riseborough c901c4b39e Thermal Calibration - add parameter required to control minimum starting temperature 2017-02-12 09:21:37 +01:00
Paul Riseborough 693cc4a533 Update SYS_CAL_TEMP parameter name and description 
We will be adding another parameter to set min starting temp, so this name needs to be made less generic.
Fixes typographical errors in the description
 2017-02-12 09:21:37 +01:00
Paul Riseborough b36e65fd6d events: Improve consistency of console messages 2017-02-02 23:54:06 +01:00
Paul Riseborough 9e219fba0c events: make required temp rise for calibration adjustable 2017-02-02 23:54:06 +01:00
Paul Riseborough 4ff5e7c5ab systemlib 2017-02-02 23:54:06 +01:00
Paul Riseborough 8001db257c ROMFS: enable auto start of thermal calibration 2017-02-02 23:54:06 +01:00
Paul Riseborough 8aa91512e9 systemlib: Add parameters to control thermal calibration startup behaviour 2017-02-02 23:54:06 +01:00
Paul Riseborough f86347f1e2 Tools: Enable offline calibrator to handle less than 3 inertial sensors 2017-02-02 23:54:06 +01:00
Paul Riseborough 4d163eebb9 events: Add accelerometer and baro thermal calibration 2017-02-02 23:54:06 +01:00
Paul Riseborough f0c456dd54 events: give gyro cal unique names in preparation for other sensor types 2017-02-02 23:54:06 +01:00
Paul Riseborough 7d8ce9ab9c sensors: Fix bug in temperature offset calculation 2017-02-01 08:40:23 +01:00
Paul Riseborough 0a447e9a93 Tools: update instructions for off-board calibrator 2017-02-01 08:40:23 +01:00
Paul Riseborough e78c5155a2 Tools: update calibration instructions 2017-02-01 08:40:23 +01:00
Paul Riseborough 253683af5f drivers: Don't require driver level gyro offsets to be non-zero 2017-02-01 08:40:23 +01:00
Paul Riseborough bdbc4f4d65 commander: fix bug in gyro calibration 
If the same gyro data was contained in two uORB instances, the thermal offset coefficient was being corrected twice.

TODO should fix what was causing data from the same sensor to appear on two uORB topics.
 2017-02-01 08:40:23 +01:00
Paul Riseborough 6e841f6cbd commander: fix bugs in handling of thermal compensation during access cal 2017-02-01 08:40:23 +01:00
Paul Riseborough 06f280e021 Tools: reinstate original offline calibrator to unblock testing 
Refactored calibrator is not working.
 2017-02-01 08:40:23 +01:00
Paul Riseborough f9b75e68c9 Tools: Change sign convention used by thermal calibrator 
The flight code assumes corrections have the same sign as the sensor bias error and are subtracted from the raw reading
 2017-02-01 08:40:23 +01:00
Paul Riseborough c00c638b77 Remove IMU calibration parameter checks 2017-02-01 08:40:23 +01:00
Paul Riseborough fb774bef67 commander: enable accel cal to adjust thermal compensation parameters 2017-02-01 08:40:23 +01:00
Paul Riseborough bdd3b094a7 sensors: report mapping from uORB to compensation parameter index 2017-02-01 08:40:23 +01:00
Paul Riseborough 8b1a5461c4 sensors: Update documentation 2017-02-01 08:40:23 +01:00
Paul Riseborough ba9e8741c0 msg: Add mapping from uORB index to compensation parameter index 
This mapping is required so other applications can use the correct compensation data, even if the uORB ordering changes.
 2017-02-01 08:40:23 +01:00
Paul Riseborough f2f5034832 sensors: prevent high frequency updating of sensor corrections 
The use of a float to integer cast was causing high frequency reporting when the float value was close to the rounding boundary.
 2017-02-01 08:40:23 +01:00
Paul Riseborough 62694d92d2 commander: rework IMU cal for compatibility with temperature compensation 2017-02-01 08:40:23 +01:00
Paul Riseborough add298c0b5 mc_att_control: use legacy offset and scale definition (+2 squashed commits) 
Squashed commits:
[f81a8b0] mc_att_control: remove unnecessary initialisers
[f3d3f48] mc_att_control: accommodate changes to sensor_correction topic
 2017-02-01 08:40:23 +01:00
Paul Riseborough 170bc91587 sensors: fix bug in thermal compensation temperature limit (+2 squashed commits) 
Squashed commits:
[2df1d9e] sensors: change definition of sensor offset and scale factor to match legacy code
[089e103] sensors: publish thermal corrections for all sensors
 2017-02-01 08:40:23 +01:00
Paul Riseborough 1dd9a10260 msg: publish thermal corrections for all sensors 2017-02-01 08:40:23 +01:00
Paul Riseborough 7e21aaf0c9 Tools: Add script file to generate sensor thermal compensation parameters 2017-01-21 11:48:03 +01:00
Paul Riseborough d8c046e47c ROMFS: add thermal calibration logging mode 2017-01-21 11:48:03 +01:00
Paul Riseborough 3a029e58c7 logger: Add mode for thermal calibration logging 
Logs the IMU and baro data at 10Hz
 2017-01-21 11:48:02 +01:00
Paul Riseborough 1d66d4b051 sensors: Allow for difference in temperature readings across sensors 
We need to track the temperature change in each sensor instance individually when using it as basis for publication.
 2017-01-21 08:31:56 +01:00
Paul Riseborough eac6dfed3c mc_att_control: Sync attitude loops to gyro data 
Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.
 2017-01-19 19:24:52 +01:00
Paul Riseborough b2113b9abe cmake: Reduce flash size for px4fmu-v2 build 
Removes Iridium SBD support
 2017-01-19 19:24:52 +01:00
Paul Riseborough edbe68f833 posix drivers: use orb instance as surrogate sensor ID for simulated IMU 2017-01-19 19:24:52 +01:00
Paul Riseborough e84a189380 drivers: use driver class instance as surrogate sensor ID for gyro and accelerometer 2017-01-19 19:24:52 +01:00
Paul Riseborough 60c12aaa36 msg: change sensor device ID's to signed integers 
Required to use driver class instance as surrogate sensor ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough 0485c2b94a sensors: add baro pressure temperature compensation and reporting 2017-01-19 19:24:52 +01:00
Paul Riseborough c21b4aaf2e posix drivers: Populate baro device ID 
TODO - use unique HW ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough 0ba31b521c uavcan: Populate baro device ID 
TODO - use unique HW ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough 677616ed83 mavlink: Populate baro device ID 
TODO - use unique HW ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough 5e53a5425a drivers: Populate baro device ID 
TODO - use unique HW ID
 2017-01-19 19:24:52 +01:00
Paul Riseborough 137bd73ea1 msg: add reporting of baro sensor corrections 
Also improve documentation
 2017-01-19 19:24:52 +01:00
Paul Riseborough c2fc283fdb sensors: Update single axis temp comp method to 5th order 
This allows future use with baro sensors that require a higher fit order
 2017-01-19 19:24:52 +01:00
Paul Riseborough 6a78df7fa0 ekf_att_pos_estimator: Publish control state gyro bias 2017-01-19 19:24:52 +01:00
Paul Riseborough f8cef1e9ab attitude_estimator_q: populate control state gyro bias data 
Populate with zeros.
TODO provide estimate.
 2017-01-19 19:24:52 +01:00
Paul Riseborough 27e6f07485 ekf2: publish control state gyro bias data 2017-01-19 19:24:52 +01:00
Paul Riseborough 28488cfcd0 msg: add gyro biases to control state message 2017-01-19 19:24:52 +01:00
Paul Riseborough da87e3eb0a posix drivers: Populate device ID in sensor topics for simulated IMU 2017-01-19 19:24:52 +01:00
Paul Riseborough 961474f430 posix drivers: Populate device ID in sensor topics for mpu9250 2017-01-19 19:24:52 +01:00
Paul Riseborough 1009550262 posix drivers: Populate device ID in sensor topics for mpu6050 2017-01-19 19:24:52 +01:00
Paul Riseborough 48f81f24e1 posix drivers: Populate device ID in sensor topics for lsm9ds1 sensor 2017-01-19 19:24:52 +01:00
Paul Riseborough 7c9e9f31e1 drivers/mpu9250: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 5177866b54 drivers/mpu6500: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough ddda5eccd6 drivers/mpu6000: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough cfaef7f433 drivers/lsm303d: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 14e2ea78b3 drivers/l3gd20: Populate device ID in sensor topic 2017-01-19 19:24:52 +01:00
Paul Riseborough 9014443d77 drivers/bmi160: Populate device ID in sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough f12820755f msg: Add device ID to sensor_baro topic 2017-01-19 19:24:52 +01:00
Paul Riseborough 6a160ecad3 msg: Update documentation for gyro and accel sensor topics 2017-01-19 19:24:52 +01:00
Paul Riseborough 63f032832f Add prototype IMU temperature compensation 
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
 2017-01-19 19:24:52 +01:00
Paul Riseborough 9599f58c5d msg: add uORB topic for IMU sensor corrections 2017-01-19 19:24:52 +01:00
Paul Riseborough 4f1b748786 msg: Fix documentation errors in sensor_combined 2017-01-19 19:24:52 +01:00
Paul Riseborough 94ce6e12c1 sensor: update default flow sensor rotation 
The SENS_FLOW_ROT parameter is used in the px4flow and mavlink receiver to perform the rotation from sensor frame to body frame.
 2016-12-30 10:39:10 +01:00
Paul Riseborough 3787fafdff px4flow: update default rotation and documentation 
The driver performs the rotation from sensor frame to body frame.
The recommended installation default is with the Y sensor axis pointing forward.
 2016-12-30 10:39:10 +01:00
Paul Riseborough eca2aeccf9 position_estimator_inav: Make optical flow data conversions consistent with uORB interface 2016-12-30 10:39:10 +01:00
Paul Riseborough 92f5211f55 local_position_estimator: Make optical flow data conversions consistent with uORB interface 2016-12-30 10:39:10 +01:00
Paul Riseborough ae55c8d87c msg: Clarify sign conventions for optical flow message 2016-12-30 10:39:10 +01:00
Paul Riseborough da6d4398e9 px4fmu: publish mixer saturation data to uORB 2016-12-13 16:14:15 +01:00
Paul Riseborough ca6f67fd3b tap_esc: publish mixer saturation status to uORB 2016-12-13 16:14:15 +01:00
Paul Riseborough 8b55c8ec55 systemlib mixer: Add public method for multi_rotor saturation status 2016-12-13 16:14:15 +01:00
Paul Riseborough eb67686b11 mc_att_control: Improve integrator wind-up protection 
Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
 2016-12-13 16:14:15 +01:00
Paul Riseborough efb7131186 px4io: improve multi-rotor motor saturation status reporting 2016-12-13 16:14:15 +01:00