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Author SHA1 Message Date
Paul Riseborough f3ec95c3b2 ekf2_replay: Add missing GPS height data 2016-04-23 15:50:01 +02:00
Paul Riseborough df3dce33c7 ecl: update library reference 
Improved reporting and logging of ekf2 status
 2016-04-20 21:47:29 +02:00
Paul Riseborough 771d753419 sdlog2: log ekf2 GPS and control status flags 2016-04-20 21:47:29 +02:00
Paul Riseborough 631040b30b ekf2: publish filter control mode status 2016-04-20 21:47:29 +02:00
Paul Riseborough 07eb4feed8 ekf2: publish GPS check status 2016-04-20 21:47:29 +02:00
Paul Riseborough ba5d608cad msg: Add control mode data to estimator status 2016-04-20 21:47:29 +02:00
Paul Riseborough 25dbb5d628 ekf2: Add missing tuning parameters 2016-04-18 11:15:38 +02:00
Paul Riseborough 0d50dd03d6 ekf2: Specify display precision for parameters 2016-04-18 11:15:38 +02:00
Paul Riseborough 81292c1e65 ekf2: Enable position of range finder and flow sensor to be adjusted 2016-04-18 11:15:38 +02:00
Paul Riseborough 66fe3ab583 ekf2: Use corrected local position and velocity 
Corrects for IMU offset from body frame origin
 2016-04-18 11:15:38 +02:00
Paul Riseborough 43e56f9fdc ekf2: Add tuneable parameters for sensor positions 2016-04-18 11:12:09 +02:00
Paul Riseborough 7acd5fda22 ekf2: send flow sensor yaw rate data 2016-04-18 11:12:09 +02:00
Paul Riseborough 592113178b ecl: update library reference 
Improved recovery from bad height estimation
 2016-04-12 12:36:05 +02:00
Paul Riseborough e66a3bd99f ekf2: incorporate fixes to covariance prediction and initialisation 
Update ecl library reference.
Update default parameters
 2016-04-05 19:08:39 -07:00
Paul Riseborough 222566de6e ekf2: Fix error in parameter documentation 2016-04-05 19:08:39 -07:00
Paul Riseborough 4b3aab2767 ekf2_replay: Fix bug in replay message format handling 2016-03-19 19:11:15 +04:00
Paul Riseborough a46b924d8c sdlog2: Fix bug in EKF replay message format 2016-03-19 19:11:15 +04:00
Paul Riseborough 75ebdda179 ekf2: Improved publishing rules 
If the ekf has not completed alignment or encounters a serious error that produces NaN's on the attitude states, then the control, attitude and position topics are not published
The control topic is published first to reduce latency
 2016-03-19 19:07:23 +04:00
Paul Riseborough 58e08339e8 ekf2: Update parameter documentation 
Updates parameter documentation to take advantage of the range finder height option.
 2016-03-14 09:42:06 +01:00
Paul Riseborough aed444c1c8 ecl: update library reference 
Adds functionality allowing the range finder to be used as the primary height measurement when operating over flat terrain. This will be useful for indoor testing where barometric pressure is unreliable due to operation of HVAC systems.
 2016-03-14 09:42:06 +01:00
Paul Riseborough cecec86081 ekf2: Update documentation for height source param option 
The GPS and range finder options are still under development but should be reserved in the interface
 2016-03-13 17:47:56 +01:00
Paul Riseborough c037b30aeb ekf2: add missing GPS status data to ekf2 replay 2016-03-13 17:47:56 +01:00
Paul Riseborough 016bfad507 sdlog2: add missing GPS status data to ekf2 replay 2016-03-13 17:47:56 +01:00
Paul Riseborough c0404e8460 msg: add missing GPS status data to ekf2 replay 2016-03-13 17:47:56 +01:00
Paul Riseborough 80927d79fe sdlog2: Add replay logging of flow and range finder messages for ekf2 2016-03-13 17:47:56 +01:00
Paul Riseborough b1f656c4b8 ekf2: Add optical flow and range finder data to ekf2 replay logging 2016-03-13 17:47:56 +01:00
Paul Riseborough 686b000503 msg: Add optical flow and range finder data to ekf2 replay 2016-03-13 17:47:56 +01:00
Paul Riseborough 1ca857404f ekf2: Enable tuning of terrain estimator 2016-03-13 17:47:56 +01:00
Paul Riseborough 735f2942c8 ekf2: Enable tuning of range finder and optical flow fusion parameters 2016-03-13 17:47:56 +01:00
Paul Riseborough dcb47e425d ekf2: Add local position ground clearance reporting 2016-03-13 17:47:56 +01:00
Paul Riseborough 70e9047f5d sdlog2: Log ekf2 height above ground fusion data 2016-03-13 17:47:56 +01:00
Paul Riseborough e540315da8 ekf2: Publish height above ground fusion data 2016-03-13 17:47:56 +01:00
Paul Riseborough c9954c8ddc msg: Add ekf2 height above ground fusion data 2016-03-13 17:47:56 +01:00
Paul Riseborough 562bfd1be3 sdlog2: fix duplicate message ID 2016-03-13 17:47:56 +01:00
Paul Riseborough af5bbc916c ekf2: Enable user defeatible saving of declination for next startup 2016-02-15 12:52:49 +01:00
Paul Riseborough 2ca48037fd ekf2: Add mavlink adjustable parameters for control of magnetometer fusion 2016-02-15 12:52:49 +01:00
Paul Riseborough 384ab209fc ecl: update library reference 2016-02-15 12:52:49 +01:00
Paul Riseborough 371e5f70b1 ekf2: fix formatting 2016-02-05 18:28:32 +01:00
Paul Riseborough 2db2d8f6f4 lib: update ecl reference 2016-02-05 18:28:32 +01:00
Paul Riseborough a37daf4cec ekf2: Add position observation noise parameter for flying without GPS 
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
 2016-02-05 18:28:32 +01:00
Paul Riseborough 8f020d5a8f ekf2: Update tuning parameters 
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Update documentation and display names for consistency.
 2016-02-05 18:28:32 +01:00
Paul Riseborough 904319f889 lib: update ecl reference 2016-01-31 22:12:11 +01:00
Paul Riseborough 92f0032475 ekf2: Add tuning parameters for GPS and Baro innovation gates 2016-01-31 22:12:11 +01:00
Paul Riseborough 92f2492fff ekf2: update interface method for vehicle arm status and NED origin 2016-01-31 22:12:11 +01:00
Paul Riseborough 4594b3c69d ekf2: Add parameters for magnetometer error checks 2016-01-31 22:12:11 +01:00
Paul Riseborough 5e4f76d844 ekf2: Add parameters and support for GPS quality checks 2016-01-31 22:12:11 +01:00
Paul Riseborough bfd182d12e msg: Add GPS check status to estimator_status uORB topic 2016-01-31 22:12:11 +01:00
Paul Riseborough 6e0f96c095 Update ECL 2016-01-03 10:41:24 +01:00
Paul Riseborough bdaaca3d78 make: Add missing ekf2 module to PX4-v1 build 2016-01-01 12:30:11 +11:00