3accab1ac5
EKF: protect declination fusion from badly conditioned earth field estimates
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Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.
EKF: Move declination state limiting into a separate function
EKF: Limit NE mag states after each 3-axis mag fusion
EKF: Fix bug in mag field strength look-up scale factor
2019-01-31 09:53:57 -05:00
7bddbd1cc5
EKF: Update cleaned up autocode fragment with sign error fix and missing LD
2019-01-31 09:53:57 -05:00
fe378fd761
EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion
2019-01-31 09:53:57 -05:00
bd1647a7fb
EKF: Rework use of fuseDeclination()
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Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
2019-01-31 09:53:57 -05:00
d52f53635b
EKF: Save mag field covariance data before reset
2019-01-31 09:53:57 -05:00
82ce7a83a5
EKF: Save mag field covariance information on startup
2019-01-31 09:53:57 -05:00
708c79eb8f
EKF: Ensure mag field state covariance data is always available for re-use
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Prevents use of _saved_mag_ef_covmat and _saved_mag_bf_variance before being initialised or when stale.
2019-01-31 09:53:57 -05:00
8839e4e1f4
EKF: Don't discard declination certainty information when resuming 3-axis fusion.
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In the case where the EKF is switching between 3-axis and heading fusion, off-diagonal elements containing the correlation between N,E components of the earth field were being lost on each switch event. These elements contained information about the declination uncertainty and should be preserved.
2019-01-31 09:53:57 -05:00
25148e1b45
EKF: Prevent rapid changes in declination estimate after a reset
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Ensures that each time the earth field covariance and variance data is reset, that the off-diagonal elements containing earth field declination angle certainty is restored.
2019-01-31 09:53:57 -05:00
6e7c119b31
EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-31 09:53:57 -05:00
0896f7b9bd
EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-31 09:53:57 -05:00
4b3140e5f7
EKF: Fix rebase error
2019-01-31 09:53:57 -05:00
911d4d8f49
EKF: Fix sign error in increaseQuatYawErrVariance function
2019-01-31 09:53:57 -05:00
a0b9cb002e
EKF: Use consistent method for recording completion of in-flight yaw alignment
2019-01-31 09:53:57 -05:00
ef5a87c1d4
EKF: Rework quaternion yaw reset.
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Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
2019-01-31 09:53:57 -05:00
fc2a089823
EKF: Add function to un-correlate quaternion states
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This is necessary after a quaternion reset to prevent incorrect attitude corrections with subsequent observation fusions.
2019-01-31 09:53:57 -05:00
bce1b96d17
EKF: Add function enabling yaw variance to be increased
2019-01-31 09:53:57 -05:00
bf1f3a224e
EKF: Derive equations enabling yaw variance to be increased
2019-01-31 09:53:57 -05:00
115c31451c
SITL use EKF2_MAG_TYPE default value
2019-01-31 09:23:12 -05:00
4821885b03
CI: test: alphabetize args
2019-01-31 09:16:18 -05:00
0fafa9dea7
CI: test: set verbose true
2019-01-31 09:16:18 -05:00
81eabc1903
Jenkins update all containers to latest tag 2019-01-28
2019-01-31 08:06:00 +11:00
9d67bbc328
Standardized/updated copyright file headers in the src/systemcmds/tests/ directory.
2019-01-30 14:25:18 -05:00
40e42a677b
NuttX cmake support optional compressed defconfigs
2019-01-30 10:54:53 -05:00
2f4f4c6623
px4_module: explicitly call the constructor of _task_should_exit
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Workaround for a GCC bug (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=58930 )
Triggered with the bebop toolchain.
2019-01-30 10:24:06 -05:00
481bfc6308
px4_module: use px4_atomic_t
2019-01-30 10:24:06 -05:00
b6e2ac74de
px4_atomic: add an atomic interface based on GGC's builtin atomics
2019-01-30 10:24:06 -05:00
a5e6191ba7
EKF add clarity brackets to avoid potential confusion
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- fixes https://github.com/PX4/ecl/issues/555
2019-01-30 09:15:53 -05:00
027d7e632e
sitl_multiple_run.sh: fix port description
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This has changed as we changed to TCP with the lockstep implementation.
2019-01-30 09:51:30 +01:00
8dc0509989
mpu9250: split icm20948 support out into new separate driver
2019-01-30 09:29:08 +01:00
d02685c9f7
cmake nuttx .px4 package fix dependency location
2019-01-29 15:34:36 -05:00
489ea68b8d
ROMFS fix pruned dependency and cleanup
2019-01-29 15:34:36 -05:00
298049b0fb
px4_fmu-v4_stackcheck sync with default and increase pmw3901 main stack
2019-01-29 14:14:29 -05:00
6f9a9b3d2c
px4_fmu-v4: add runtime external SPI4 detection to support pmw3901 ( #11301 )
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* The build is built with SPI4. At run time the signal GPIO_8266_GPIO2 it tested. If it is low the SPI4 is configured. If it is high SPI4 is not configured.
* board_common: Add Notion of Board has bus manifest
2019-01-29 13:44:15 -05:00
53a127beb9
Oversampling rate for MPL3115A2 pressure sensor ( #11332 )
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As reported by @LeoMustafaNXP in https://github.com/PX4/Firmware/issues/11296
2019-01-29 11:41:58 -05:00
22fe083666
Jenkins: bypass entrypoint temporarily ( #11329 )
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* Jenkins: no SITL entrypoint for now
* Jenkins: complile - no snapdragon eagle entrypoint for now
2019-01-29 09:48:24 -05:00
cdb6aca6bd
mc_pos_control: refactor spoolup time naming
2019-01-29 10:02:48 +01:00
43fb84a63b
mc_pos_control: make sure task gets started after idle delay
2019-01-29 10:02:48 +01:00
dc5f18bdcd
ToneAlarm class refactoring to implement an interface for hardware specific methods and a single ToneAlarm class.
2019-01-28 18:58:04 -08:00
0f386ee52a
update all docker containers to latest 2019-01-27
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- Jenkins compile drop arch until container is updated and maintained
- clang-tidy disable for now, the new version isn't respecting the existing configuration
2019-01-28 13:08:58 -05:00
c2e48f45ab
Jenkins CI: ROS msgs: rollback branch naming
2019-01-28 14:00:21 +01:00
c0a4185317
Jenkins CI: ROS msgs: replace GIT_BRANCH with BRANCH_NAME
2019-01-28 14:00:21 +01:00
de917bae6d
uorb_to_ros_msgs: delete all messages on the out dir first, so it can also consider message deletions on the input dir
2019-01-28 14:00:21 +01:00
5c17a0b205
Jenkins CI: ROS msgs: clone by branch
2019-01-28 14:00:21 +01:00
be2e1edbe2
Jenkins CI: ROS msgs: update stage name
2019-01-28 14:00:21 +01:00
1dcb429d2d
ROS msgs: add testing branch
2019-01-28 14:00:21 +01:00
84c6e07c5c
uorb_to_ros_msgs: only create dir if it doesn't exist
2019-01-28 14:00:21 +01:00
a07bcc499a
ROS msgs: remove redundant step
2019-01-28 14:00:21 +01:00
4b1053d212
Jenkins: set autobuild and deploy for generating px4_msgs repo ROS msg definitions files
2019-01-28 14:00:21 +01:00
cced80edf9
Correct the mpu6000 temperature correction scalar value to match the datasheet.
2019-01-28 12:48:03 +01:00
Paul Riseborough