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12,392 Commits 852 Branches 161 Tags
be69887b7e1c9543b8bcceb45d8c5f40fe4d759c
Commit Graph
258 Commits
Author SHA1 Message Date
Lorenz Meier be69887b7e EKF: Improved down gains from @boosfelm and @surberj 2015-06-26 19:50:49 +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 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 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 8978278320 EKF combined att + pos estimator: Robustify against mag 0 vectors and timeouts 2015-04-18 20:49:18 +02:00
Johan Jansen b7a6f18ca6 AttPosEKF: Only fuse GPS velocity if they are valid 2015-04-18 17:23:19 +02:00
Daniel Agar 2e824bbeea fix incorrect argc < 1 check for no arguments 
-requiring arguments should be argc < 2
 2015-04-18 12:02:58 +02:00
Lorenz Meier cc11e8a098 EKF: Sync to upstream repo 2015-04-03 17:01:32 +02:00
Lorenz Meier 368a21ddab Fix typo in vector matrix product, fixes #1969, reported by @cat888 2015-04-03 08:54:49 +02:00
Lorenz Meier bab79ece49 Better defaults for filter noise params 2015-03-15 12:00:37 +01:00
Lorenz Meier aceca6b2a9 Fix gyro offset calculation 2015-03-15 11:32:37 +01:00
Johan Jansen 8508287590 AttPosEKF: Remove unused code 2015-03-13 15:59:01 +01:00
Johan Jansen 4a8f799e9e AttPosEKF: Make local_pos output Z ref pos relative 2015-03-13 15:27:02 +01:00
Johan Jansen 435d82dee2 AttPosEKF: Remove barometer reference altitude 2015-03-12 18:17:39 +01:00
Johan Jansen 211760e3e3 AttPosEKF: Fix 5Hz sawtooth oscilation in XY position estimate 2015-03-12 17:28:21 +01:00
Johan Jansen 67695f191e AttPosEKF: Use Geolib lat/lon position projection 2015-03-12 13:17:51 +01:00
Johan Jansen 20592ce4d8 AttPosEKF: Compile fix for protected HIL function 2015-03-12 10:29:16 +01:00
Johan Jansen 5f5a6e841f AttPosEKF: Reset states to current state 2015-03-12 09:41:38 +01:00
zefz 588edd794d AttPosEKF: Reset covariance calculation on state reset 2015-03-11 12:47:11 +01:00
Johan Jansen 73ac2d90cf AttPosEKF: Compile fix for missing braces 2015-03-08 22:18:28 +01:00
Johan Jansen cdbd6872ed AttPosEKF: Fix inverted logic for inhibitMagStates 2015-03-08 22:00:38 +01:00
Johan Jansen 1dc7d4905c VectorMath: Optimization by passing vector by reference instead of value 2015-03-08 12:26:59 +01:00
Johan Jansen 34f6cf9eb6 AttPosEKF: Inhibit mag state if not fixed wing and not accelerating forwards 2015-03-08 12:15:39 +01:00
Johan Jansen 11568c77d4 VectorMath: Add scalar division to custom EKF vector math 2015-03-08 12:14:47 +01:00
Johan Jansen 807e02b4a0 AttPosEKF: Direct to EKF whether the vehicle is flying like a FixedWing or not 2015-03-08 12:13:56 +01:00
Johan Jansen e0d1e3ca5e AttPosEKF: Fix code style using AStyle script 2015-03-03 13:36:18 +01:00
Johan Jansen 35e0faa48a AttPosEKF: Fix dead-reckoning for global position estimates without GPS 2015-03-03 13:28:55 +01:00
Johan Jansen 74a5dcdb1b AttPosEKF: Subscribe to vehicle armed status 2015-03-03 13:28:21 +01:00
Sebastian Verling a77420ede8 corrected rate offset calculation such that units match 2015-02-23 18:44:38 +01:00
Sebastian Verling aeef634f9b adapted comment about accelerometer offset 2015-02-23 18:40:48 +01:00
Sebastian Verling bbd5f33a22 removed duplicate line 2015-02-23 18:38:55 +01:00
Lorenz Meier f4da1df23a Style fix of copyright header 2015-02-15 19:37:22 +01:00
Johan Jansen f64a8d7cb0 AttPosEKF: Fix sensor loss recovery 2015-02-13 10:52:10 +01:00
Johan Jansen 331352c75d AttPosEKF: Use multiplatform land detector (was custom FixedWing only) 2015-02-13 10:50:55 +01:00
Johan Jansen 6af2a38f36 AttPosEKF: Moved class declaration to header file 2015-02-12 14:43:23 +01:00
Johan Jansen a8c298c772 AttPosEKF: Remove unused gps accel estimation 2015-02-12 13:55:03 +01:00
Johan Jansen 755abccb3e AttPosEKF: Removed SENSOR_COMBINED_SUB macros 2015-02-12 13:00:20 +01:00
Johan Jansen 76901c6414 AttPosEKF: Moved data collection to separate function 2015-02-12 11:49:45 +01:00
Johan Jansen f5534dd5c1 AttPosEKF: Fix velNED not initialized properly on first GPS fix 2015-02-12 10:58:36 +01:00
Johan Jansen 0cbfa65056 AttPosEKF: Refactor and code cleanup 2015-02-11 17:57:33 +01:00
Johan Jansen 8d8a66607a AttPosEKF: Do not publish global position if we have none 2015-02-11 16:43:52 +01:00
Johan Jansen c1e13e5afb AttPosEKF: Fix GPS loss timeout not resetting properly 2015-02-11 16:43:04 +01:00