Roman
7a7bf2205d
ekf2_replay: compute euler angles for logging
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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
Paul Riseborough
35bf165190
ekf2_replay: fix code style
2016-10-13 09:06:41 +02:00
Paul Riseborough
02c3ea0a5b
ekf2_replay: log output predictor tracking errors
2016-10-13 09:06:41 +02:00
Roman Bapst
ba047f234d
ekf2 replay: added magic values for range min/max distance ( #5268 )
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- replay was not working without these values as only range measurements
were given to the filter which were between the min/max value
Signed-off-by: Roman <bapstroman@gmail.com >
2016-08-07 11:30:54 +02:00
Lorenz Meier
7419151314
Update EKF2 replay timestamp handling
2016-07-12 22:17:22 +02:00
Beat Küng
9c73eae941
sensor_combined: replace accel & gyro integral with value, use float for dt
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Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.
Note that this breaks the replay format for sdlog2 replay
2016-07-07 11:35:50 +02:00
Beat Küng
c5ea4b43be
sensor_combined.msg: make timestamps relative
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This is needed for the new logger & saves some space as well.
2016-07-07 11:35:50 +02:00
Beat Küng
c66f26245c
sensor_combined.msg: use uint32 for integral_dt
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There is no reason to make this 64 bit. The same should be done in
the sensor raw messages, together with further cleanup.
2016-07-07 11:35:50 +02:00
Beat Küng
d846ad5dac
sensors: move voting into sensors module
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- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
2016-07-07 11:35:50 +02:00
Beat Küng
e0c11f5545
fix ekf2_replay_main.cpp: remove timestamp_velocity from gps topic
2016-06-24 00:22:01 +02:00
Beat Küng
89f5bd27e8
vehicle_gps_position: use timestamp field instead of timestamp_position
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timestamp was unused. This allows to remove timestamp_position.
2016-06-24 00:22:01 +02:00
tumbili
b9e9f62bee
code style formatting
2016-06-08 17:14:33 +02:00
CarlOlsson
9c170f7fae
added parameter which defines threshold for airspeed given to the filter
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remove unnecessary replay fields
2016-06-08 17:11:10 +02:00
Paul Riseborough
26d81418fa
ekf2: Add external vision to replay
2016-05-28 14:54:14 +02:00
CarlOlsson
ee33f21303
added airspeed to ekf2 replay
2016-05-14 11:32:11 +02:00
Paul Riseborough
af9a7a39f2
ekf2: add handling of filter internal fault message
2016-05-11 14:53:55 +02:00
Paul Riseborough
f3ec95c3b2
ekf2_replay: Add missing GPS height data
2016-04-23 15:50:01 +02:00
tumbili
852e33697d
fixed ekf2_replay:
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we are now using the vehicle_landing_detected topic
instead of getting the landed flag from the vehicle status topic
2016-04-19 10:58:14 +02:00
James Goppert
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
Roman
42a5be5afe
replay cleanup
2016-04-05 21:24:11 +02:00
Roman
1ce99e3b96
ekf2 replay: some cosmetics
2016-04-05 21:24:11 +02:00
Roman
bd4a0e30de
ekf2 replay: allow user to change parameters
2016-04-05 21:24:11 +02:00
tumbili
4da93a316d
ekf2 replay logic:
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support recent change in ekf2 module which made it only publish the output
when an ekf update was occuring. in case the ekf2 module does not update
the replay module will be informed and will thus not wait for an update
but continue preparing the next sample of sensor data
2016-04-01 13:54:46 +02:00
Roman
99723975a6
ekf2 replay: apply parameter values from log at the beginning
2016-03-30 07:45:54 +02:00
Paul Riseborough
4b3aab2767
ekf2_replay: Fix bug in replay message format handling
2016-03-19 19:11:15 +04:00
Paul Riseborough
c037b30aeb
ekf2: add missing GPS status data to ekf2 replay
2016-03-13 17:47:56 +01:00
Roman
77697c586f
write flow innovations and flow innovation variances to replay log
2016-03-13 17:47:56 +01:00
Roman
7a6a09f1a1
ekf2_replay: support parsing a uint32_t
2016-03-13 17:47:56 +01:00
Roman
89ace03133
ekf2_replay: added support for flow and range data
2016-03-13 17:47:56 +01:00
Roman
4965926392
make ekf2 replay app work with sparse gps data
2016-03-13 17:47:56 +01:00
Roman
bdf373c897
final cleanup
2016-02-27 11:51:05 +01:00
tumbili
36e3600809
take into account laneded and armed flag for ekf2 replay
2016-02-27 11:51:05 +01:00
tumbili
35d573e12a
added ekf2 replay module
2016-02-27 11:48:31 +01:00
Roman