Paul Riseborough
889fb30029
ekf2: Improve control of magnetometer bias learning
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Adds parameters so that the motion checks used to switch between magnetic yaw and 3-axis fusion can be adjusted.
Modifies the check used to determine if learned mag biases can be saved. A cumulated calibration time is used rather than continuous calibration time to allow for for switching in and out of 3-axis fusion mode that is required to do calibration.
2017-05-20 10:24:08 +02:00
Paul Riseborough
6474922224
ekf2: Save learned magnetometer biases
2017-05-03 08:37:14 +02:00
Roman
4bffb1478f
ekf2: added parameter for range sensor pitch offset
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-02-22 22:21:41 +01:00
Paul Riseborough
056ac3c9c6
EKF: Update default value for sideslip fusion noise
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Use value obtained from tuning on replay logs
2016-11-15 23:58:05 +01:00
Paul Riseborough
680a8f0b44
ekf2: fix rebase compile errors
2016-11-15 23:58:05 +01:00
CarlOlsson
72ad6627e1
updated beta noise
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Conflicts:
src/modules/ekf2/ekf2_params.c
2016-11-15 23:58:05 +01:00
CarlOlsson
f00f6e6eff
added parameter for when to fuse sideslip
2016-11-15 23:58:05 +01:00
Paul Riseborough
0ee75dbc6b
ekf2: Allow adjustment of min arrival time delta parameter
2016-11-08 11:17:07 +01:00
Paul Riseborough
865b6404ec
ekf2: reduce default output predictor time constant
2016-10-13 09:06:41 +02:00
Lorenz Meier
a130b6a65c
style cleanup
2016-08-15 19:53:21 +02:00
Daniel Agar
4252511b8e
add bitmask param metadata
2016-07-07 12:42:59 +02:00
CarlOlsson
9c170f7fae
added parameter which defines threshold for airspeed given to the filter
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remove unnecessary replay fields
2016-06-08 17:11:10 +02:00
Paul Riseborough
9e0ab5d266
ekf2: update height source parameter documentation
2016-05-28 14:54:14 +02:00
Paul Riseborough
ac50510c78
ekf2: Use parameter defined values for EV noise if vision system estimates not available
2016-05-28 14:54:14 +02:00
Paul Riseborough
57c1138d28
ekf2: add parameters for control of external vision fusion
2016-05-28 14:54:14 +02:00
Paul Riseborough
d4262bce2a
EKF2 output predictor update ( #4606 )
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* ekf2: Update tuning parameter documentation
* ecl: update submodule reference
Enables selection of a new output predictor method
2016-05-27 08:36:37 +02:00
Paul Riseborough
83cc9ef496
ekf2: Enable tuning of initial tilt alignment uncertainty
2016-05-18 12:44:04 +10:00
Paul Riseborough
7d2d15643d
ekf2: Add tuning for IMU switch-on bias errors
2016-05-18 12:44:04 +10:00
Paul Riseborough
3aa2297497
ekf2: Add parameters to control output filter
2016-05-14 11:24:41 +02:00
CarlOlsson
88800b9e36
added tas_innov_gate to params
2016-05-13 13:55:57 +02:00
Paul Riseborough
2c6b7a008f
ekf2: Update tuning parameters
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Remove unused gyro scale factor parameter
Change gyro and accelerometer bias noise parameters to more intuitive units
Updated tuning defaults
2016-05-11 14:53:55 +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
43e56f9fdc
ekf2: Add tuneable parameters for sensor positions
2016-04-18 11:12:09 +02:00
Paul Riseborough
e66a3bd99f
ekf2: incorporate fixes to covariance prediction and initialisation
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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
CarlOlsson
1bb07ff50c
adopted ekf2_params.c
2016-03-30 17:33:37 +02:00
Daniel Agar
6888545037
remove @unit enum
2016-03-25 20:33:25 -04:00
Daniel Agar
70a68def83
params correct boolean tag
2016-03-25 20:25:17 -04:00
Lorenz Meier
0cab41075b
Fix pparam meta data
2016-03-14 09:43:51 +01:00
Paul Riseborough
58e08339e8
ekf2: Update parameter documentation
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Updates parameter documentation to take advantage of the range finder height option.
2016-03-14 09:42:06 +01:00
Daniel Agar
9c94acc3e3
ekf2 remove @unit None
2016-03-14 09:12:34 +01:00
Daniel Agar
b89fbc9dbd
ekf2 fix comment formatting
2016-03-14 09:12:34 +01:00
Daniel Agar
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
Daniel Agar
5af98549b9
ekf2 param @unit
2016-03-14 09:10:29 +01:00
Paul Riseborough
cecec86081
ekf2: Update documentation for height source param option
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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
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
tumbili
652fb5e99e
ekf2 app:
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- support use of replay
2016-02-27 11:48:31 +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
a37daf4cec
ekf2: Add position observation noise parameter for flying without GPS
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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
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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
92f0032475
ekf2: Add tuning parameters for GPS and Baro innovation gates
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
Roman
fe07079367
added parameter interface to ekf2
2016-01-10 21:14:58 +01:00
Paul Riseborough