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
aabdc4125b
ekf2: publish ekf2_timestamps topic
2017-03-04 22:47:54 +08:00
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
018846fadf
ekf2_replay.msg: use timestamp instead of time_ref, remove unused time_usec_vel
2017-03-04 22:47:54 +08:00
ecb2511a7b
add matrix copyTo
2017-02-25 11:04:02 +01:00
4bffb1478f
ekf2: added parameter for range sensor pitch offset
...
Signed-off-by: Roman <bapstroman@gmail.com >
2017-02-22 22:21:41 +01:00
7236bafee1
ekf2 : move to new vision topic
2017-02-15 21:48:33 +01:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
27e6f07485
ekf2: publish control state gyro bias data
2017-01-19 19:24:52 +01:00
50002a0ff6
Update EEKF2 to match ecl updates
2017-01-15 01:57:38 -08:00
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
537f72073d
minor: uppercase typo and unused header
2016-12-20 09:46:36 +01:00
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
d4c87d62f1
fixed code style
...
Signed-off-by: Roman <bapstroman@gmail.com >
2016-11-21 07:29:21 +01:00
0e481a5d00
ekf2: publish state reset information
2016-11-21 07:29:21 +01:00
9ff1feb92f
ekf2: fix formatting
2016-11-15 23:58:05 +01:00
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
680a8f0b44
ekf2: fix rebase compile errors
2016-11-15 23:58:05 +01:00
72ad6627e1
updated beta noise
...
Conflicts:
src/modules/ekf2/ekf2_params.c
2016-11-15 23:58:05 +01:00
e4f5710ec3
added logic for beta fusion
2016-11-15 23:58:05 +01:00
f00f6e6eff
added parameter for when to fuse sideslip
2016-11-15 23:58:05 +01:00
d550290e63
modified ekf2_main.cpp
2016-11-15 23:58:05 +01:00
246dc5421b
ekf2: remove unnecessary variables found during review
2016-11-08 11:17:07 +01:00
0ee75dbc6b
ekf2: Allow adjustment of min arrival time delta parameter
2016-11-08 11:17:07 +01:00
5ac73f3440
ekf2: code style fixes
2016-11-08 11:17:07 +01:00
699edd2535
ekf2: Prevent loss of baro data due to buffer time arrival checks
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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
ef7ed97cbd
ekf2: Don't send un-usable mag and baro data to the EKF
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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
d1a3261e81
ekf2_main: reduce stack (according to the reductions in the commit before)
2016-11-06 14:48:20 +01:00
5bcfa3c7e6
ekf2_main: add {} to limit variable scope and save stack
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Reformatting makes it look worse than it is, but it really only adds {}
2016-11-06 14:48:20 +01:00
cc27d2a1e0
ekf2_main: move subscriptions into main thread & call orb_unsubscribe at the end
2016-11-06 14:48:20 +01:00
53cf27eb84
ekf2_main: some cleanup of redundant fields
2016-11-06 14:48:20 +01:00
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
06ad477847
ekf2: publish vibration metrics
2016-10-22 12:03:05 +02:00
a978d61d9a
attitude message cleanup: more cleanup
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-10-18 20:46:08 +02:00
526fb8f515
Remove q_valid flag from attitude topic
2016-10-18 20:46:08 +02:00
b8a219d351
removed comments and fixed some euler bugs
2016-10-18 20:46:08 +02:00
5e0e522903
adapted to new vehicle attitude message
2016-10-18 20:46:08 +02:00
865b6404ec
ekf2: reduce default output predictor time constant
2016-10-13 09:06:41 +02:00
7a9e3002ff
ekf2: publish output predictor tracking errors
2016-10-13 09:06:41 +02:00
d80a233bcb
ekf2: fix code style
2016-10-11 08:52:35 +02:00
6eabf80f2a
ekf2: Publish estimator solution status flags
2016-10-11 08:52:35 +02:00
c0fe08a203
ekf2: publish estimator status position accuracy
2016-10-11 08:52:35 +02:00
5a69f4560a
ekf2: Publish innovation test status data
2016-10-11 08:52:35 +02:00
8ff237c69f
Remove size optimization for individual modules
...
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
9a8e6de7fe
EKF2: Remove QuRT hackery
2016-09-11 20:07:30 +02:00
d810726c6e
EKF2: Only use the memory it needs
2016-08-15 19:53:21 +02:00
a130b6a65c
style cleanup
2016-08-15 19:53:21 +02:00
8f01324890
ekf2 fix and enforce code style
2016-08-07 10:40:17 +02:00
457526ebe7
Don't push bad values from lidar to EKF2 ( #5196 )
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Report terrain altitude
2016-08-01 23:30:40 -07:00
a1c8585342
EKF2: Report zero as position until local pos is valid
2016-07-31 14:01:32 +02:00
Beat Küng