b4d2b8c57d
EKF : introduce new architechture for navigation limits
2018-06-09 22:23:55 +02:00
1562a82dc2
EKF: Add parameter to adjust on-ground movement detector sensitivity
2018-06-09 22:23:55 +02:00
e10798bfdf
EKF: Add on ground movement detector
2018-06-09 22:23:55 +02:00
6cadc92285
EKF: Don't reject saturated flow data when it is the only aiding source
2018-05-10 07:11:59 +10:00
c5b2f59f57
PX4 style fixes (excluding EKF generated code)
2018-05-03 22:25:36 -04:00
9747dc778d
EKF: Rework nav validity reporting
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Remove duplicate checking for dead reckoning and consolidate into a single function.
Use separate timers to check for start of dead reckoning and check when dead reckoning has been performed for too long for the nav solution to be valid.
Allow the timeout for validity reporting to be adjusted externally.
Separate external reporting of dead reckoning from internal checks.
2018-04-21 13:04:04 -04:00
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
8e30c2666d
EKF: Add support auxiliary velocity observation
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This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
2017-11-21 11:18:09 +11:00
d9c8af54bd
EKF add print_status() with memory usage
2017-11-16 14:11:34 -05:00
75d1ed894c
EKF simplify RingBuffer allocation check
2017-11-16 13:09:17 -05:00
af7004ef01
EKF: report observation buffer allocation errors
2017-11-16 20:04:46 +11:00
d785a19c0a
EKF: delay final allocation of observation buffers until required
2017-11-16 19:47:04 +11:00
ed9a394029
EKF RingBuffer avoid copying
2017-11-15 18:08:51 -05:00
e10ec59058
EKF: Use consistent test for navigation validity reporting
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This will enable controller to take advantage of non-inertial dead reckoning.
2017-10-20 14:44:38 +11:00
cdf6e6cd36
EKF: use delta_time to avoid division by zero
2017-10-11 15:15:06 +02:00
d293c4231d
EKF: Protect against divide by zero caused by invalid optical flow
2017-10-11 21:54:47 +11:00
ab9b8e1964
EKF: Prevent bad optical flow quality causing loss of aiding when on ground
2017-10-11 21:22:33 +11:00
81a64c0479
ekf: fix flow direction when on ground
2017-10-10 14:39:44 +02:00
d6decb3c84
Merge pull request #277 from PX4/pr-ekfBufferParam
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EKF: Add a parameter to enable setting of a minimum buffer length
2017-06-15 07:34:21 +10:00
fed4a9bc5a
EKF: add vertical position derivative output
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Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode.
Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor.
Provide separate accessor for vertical position derivative.
2017-06-12 10:45:46 +10:00
16c7041f4a
EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter
2017-06-12 09:33:34 +10:00
87fdee440b
EKF estimator_interface coverity fix 139419
2017-04-29 11:48:15 +02:00
b3f8fd19e0
EKF estimator_interface coverity fix 140490, 140491
2017-04-29 11:48:15 +02:00
3919d60f66
ekf2 initialization fixes
2017-04-24 18:56:50 -04:00
c3f966f53e
EKF: remove clang build error message
2017-04-18 19:22:59 +10:00
c607941e2f
EKF: Allow external setting of air density for multi-rotor drag fusion
2017-04-16 13:07:12 +02:00
3758c5a09d
EKF: down-sample drag specific force data
2017-04-16 13:07:12 +02:00
465b145929
EKF: Add multi-rotor drag model for wind estimation
2017-04-16 13:07:12 +02:00
0d7e7e9d81
EKF: Don't use EKF origin in GPS drift check calculation
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The GPS drift calculations need to be able to run independently of the EKF origin.
2017-04-12 13:11:34 +02:00
2426f1dd3a
EKF: remove use of memset to initialise variable
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When using a union of flags and integer value it is safer to initialise the value to 0 rather than memset the flags because the flags may not define all bits in the integer.
2017-03-21 07:57:23 +11:00
040639837e
EKF: Use common timeout test for reporting deadreckoning
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Use a parameter to set the time-out threshold
Use a class variable for the time-out flag
Clean up comments
2017-03-15 07:57:38 +01:00
9bb54ccc08
EKF: don't accept GPS data without a 3D lock
2017-03-10 10:15:53 +01:00
af26ade1ce
EKF: Use norm for vector length everywhere
2017-02-22 14:12:05 +01:00
6e5a9aabe1
Merge pull request #234 from PX4/pr-optFlowUpdates
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EKF: optical flow improvements
2017-02-22 09:00:48 +11:00
2750961be6
c++11 initialization cleanup ( #237 )
2017-02-05 13:05:10 -05:00
47b8ef258b
clang-tidy performance-type-promotion-in-math-fn ( #236 )
2017-02-02 00:17:08 -05:00
bcf7cac5d9
EKF: remove hardcoded limit on optical flow time delta
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Allow for up to 50% lost data.
2017-01-18 06:06:45 +11:00
3fb7effb0c
EKF: Allow optical flow use when on-ground with poor data quality
2017-01-18 06:06:45 +11:00
453bde73f8
ECL: Simplify / correct estimator interface
2017-01-15 10:17:41 +01:00
c5a55d97aa
initialise data members properly
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- dot not use memset for struct with non POD types
Signed-off-by: Roman <bapstroman@gmail.com >
2017-01-15 10:02:31 +01:00
1465adca2f
EKF: Improve use of memcpy
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Changes made to remove Coverity scan errors
2017-01-15 10:02:31 +01:00
26a06567bb
EKF: add missing initialisation for class variables
2017-01-15 10:02:31 +01:00
f999729d70
EKF: fix incorrect use of memcpy
2017-01-15 10:02:31 +01:00
3c4c09593f
EKF: Rationalise console messages
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Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
2016-12-28 10:39:47 +01:00
5ad329b641
EKF: Fix variable names to match convention
2016-11-07 22:23:12 +11:00
afd6e54b2a
EKF: Allow for worst case timing jitter when setting observation buffer length
2016-11-07 11:50:16 +11:00
d5b398ddb1
EKF: Minimise data buffer lengths
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Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
2016-11-07 09:06:45 +11:00
b10b0184c5
EKF: Add IMU vibration calculation and reporting
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Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
2016-10-19 21:46:55 +11:00
744b79c1b2
EKF: Publish innovation test ratios
2016-10-06 09:02:29 +02:00
d53f532079
fixed computation of range measurement timestamp
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-09-17 11:41:12 +02:00
Mohammed Kabir