Youssef Demitri
9c26e71ef6
Added robust airspeed measurement
2015-10-08 15:23:05 +02:00
Youssef Demitri
ce70803d25
publish control state from ekf - missing:airspeed
2015-09-23 16:19:48 +02:00
Lorenz Meier
5ed223221c
EKF: Fix param naming
2015-09-20 10:54:25 +02:00
Lorenz Meier
52a2946827
EKF: Add sensor priority support
2015-09-07 10:00:03 +02:00
Lorenz Meier
dce31a76a8
EKF: Set correct interval / update rate
2015-09-06 20:10:14 +02:00
Lorenz Meier
d532e372ac
Merge branch 'master' into ekf_voting
2015-09-05 17:41:21 +02:00
Lorenz Meier
9950d5e950
EKF: Use delta angles / velocities if available, fall back to rates / acceleration when needed. Remove unused sensor offsets. Store estimated offset on landing, but do not yet load it on boot (we want to check these after real flights in logs first)
2015-09-05 17:30:52 +02:00
Lorenz Meier
b5a410e9d2
EKF: Set better default gains
2015-08-30 19:37:41 +02:00
Lorenz Meier
293bd026d0
EKF: Set mag timeout
2015-08-30 14:23:46 +02:00
Lorenz Meier
68666aa393
EKF: Use voting class instead of special routines to select sensor
2015-08-30 12:53:22 +02:00
Lorenz Meier
ff8e4f2ea6
EKF: Update to new sensors combined topic
2015-08-30 11:37:27 +02:00
Lorenz Meier
8d5fb36886
Improve EKF status output printing
2015-08-29 16:16:46 +02:00
Lorenz Meier
361f858c14
Merged master
2015-08-28 23:05:58 +02:00
Lorenz Meier
700594e743
Merge branch 'beta'
2015-08-28 22:03:12 +02:00
Lorenz Meier
5db1490a03
EKF: Only publish with low EPH / EPV if the position estimate is actually valid / in place.
2015-08-26 20:07:56 +02:00
Lorenz Meier
c41f32c17c
Merge beta
2015-08-22 20:49:54 +02:00
Lorenz Meier
8cda0ec266
EKF memory usage fix
2015-08-22 14:13:03 +02:00
Lorenz Meier
f0ff10e40f
EKF: Use driver-level provided and coning-corrected delta angles
2015-08-19 10:18:53 +02:00
Lorenz Meier
dd2f7987b6
Merge pull request #2648 from PX4/ekf_init_fix
...
EKF Init fix
2015-08-14 14:15:38 +02:00
Lorenz Meier
14b923b454
Att pos EKF: Fix init logic, only set local reference if GPS lock present
2015-08-13 21:34:19 +02:00
Lorenz Meier
3fd0ddf1b0
Fix coning handling in att_pos EKF. Fixes #2663
2015-08-13 21:24:41 +02:00
Lorenz Meier
db975a10c2
Fix coning handling in att_pos EKF. Fixes #2663
2015-08-12 12:29:42 +02:00
Lorenz Meier
005d0cb0e7
Att pos EKF: Fix init logic, only set local reference if GPS lock present
2015-08-06 10:04:36 +02:00
Lorenz Meier
4372701dab
EKF: Fix entirely unnecessary C++11 dependency
2015-07-04 17:24:55 +02:00
Lorenz Meier
00c87c041a
EKF: Fix entirely unnecessary C++11 dependency
2015-07-04 17:25:21 +02:00
Lorenz Meier
95eaebb28d
Merge branch 'release_v1.0.0'
2015-07-04 10:47:18 +02:00
Lorenz Meier
8f4b9c02f0
EKF: Fix for the GPS timeout logic
2015-07-04 10:46:19 +02:00
Mark Charlebois
28dd9759a6
POSIX: fixes for use of open vs px4_open, etc
...
Fixes for the posix build when virtual devices are used.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-07-01 23:51:12 +02:00
Lorenz Meier
f48ed93469
EKF: Fix param meta data
2015-06-30 07:00:05 +02:00
Lorenz Meier
50ba1f7365
merged release_v1.0.0 into master
2015-06-30 15:30:45 +02:00
Lorenz Meier
be69887b7e
EKF: Improved down gains from @boosfelm and @surberj
2015-06-26 19:50:49 +02:00
Lorenz Meier
454becdae5
Merged release_v1.0.0 branch into master
2015-06-25 21:45:17 +02:00
Youssef Demitri
66a637dcc7
added covariances to estimator_status and logging
2015-06-24 15:28:09 +02:00
Youssef Demitri
da29b88a04
added LP filters (10Hz) on attitude rates in estimator
2015-06-24 14:37:58 +02:00
Lorenz Meier
c46b4a29b8
EKF: Publish initial altitude estimate in any case
2015-06-23 12:57:39 +02:00
Lorenz Meier
6a00fce009
EKF: Publish global position also if GPS is not yet valid so that controllers can get a valid altitude
2015-06-23 12:57:39 +02:00
Lorenz Meier
71fc0f5bc4
EKF: Fix mavlink output
2015-06-22 09:58:11 +02:00
Lorenz Meier
e76bdc3cac
EKF: Use unfiltered airspeed if airspeed is large enough - rely for better stability on the filtered speed for the threshold. Lower the threshold to 5 m/s to ensure airspeed fusion even on small wings
2015-06-14 12:10:36 +02:00
Lorenz Meier
9d0d6ba2bf
EKF: Fix isfinite calls
2015-06-13 11:31:55 +02:00
Lorenz Meier
c9fefe236b
Merged release into master
2015-06-13 11:06:01 +02:00
Lorenz Meier
3cc2b7ed12
EKF: Add small gyro failover hysteresis
2015-06-11 14:52:04 +02:00
Lorenz Meier
e8a9c20056
EKF: Ensure we start with zero local altitude and zero GPS offset. Since the filter is not publishing any data at this point this is not relevant in operation, but might be important later if we publish a separate altitude estimate topic
2015-06-11 12:30:05 +02:00
Lorenz Meier
da6a07421b
EKF: Add hysteresis to mag failover
2015-06-09 09:15:45 +02:00
Lorenz Meier
3eebd8eb30
EKF: Prevent bad data from being published
2015-06-08 16:48:50 +02:00
Lorenz Meier
fe09e53b5b
EKF reset handling: Ensure altitude reinitializes correctly
2015-06-08 16:48:50 +02:00
Lorenz Meier
e1ecac078d
EKF: Harden GPS offset filter value for HIL
2015-06-08 16:48:50 +02:00
Lorenz Meier
f02ffa5a90
Att / Pos EKF: Fix handling of altitude initialization for local frame
2015-06-08 16:48:50 +02:00
Lorenz Meier
06ba8d924a
Move estimator_status to generated topics
2015-05-27 15:21:31 -07:00
Lorenz Meier
4565f57468
Merged release_v1.0.0 into master
2015-05-27 15:28:41 -07:00
Mark Charlebois
1ca05aaa64
orb_advert_t changed to void * and checks changed to nullptr
...
The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-27 14:42:49 -07:00
Youssef Demitri