fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity
444 Commits 852 Branches 161 Tags
Commit Graph

444 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Paul Riseborough
d5046b078e Merge pull request #106 from PX4/pr-visionSupport 
EKF: add support for external vision data
 2016-05-16 07:32:46 +10:00
Paul Riseborough
c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough
920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough
13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough
59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00
Paul Riseborough
172f4be594 EKF: Fix bug in calculation of terrain observation variance 2016-05-14 21:17:29 +10:00
Paul Riseborough
b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough
f4a0f69f6e EKF: print to console when starting EV fusion 2016-05-14 21:17:29 +10:00
Paul Riseborough
349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
Paul Riseborough
ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
devbharat
cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat
d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00
devbharat
d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
devbharat
6d20a426e0 Reset time_last_ext_vision 2016-05-14 21:17:29 +10:00
devbharat
b681c9a5d0 Added external vision noise parameters etc and position offset 2016-05-14 21:17:29 +10:00
devbharat
ff8f03b5dd Added compensation for VI sensor offset. Check sign. 2016-05-14 21:17:29 +10:00
Paul Riseborough
e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough
37a09c61bc EKF: Don't use delayed data to start EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
25f1d1d766 EKF: Add fusion of external vision 3D pos data 2016-05-14 21:17:29 +10:00
Paul Riseborough
81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough
7afd015b49 Merge pull request #129 from PX4/pr-ekf2OutputFilterTracking 
EKF:  Improve output observer position and velocity tracking
 2016-05-14 15:53:19 +09:30
Paul Riseborough
c7e225124c EKF: Improve output observer position and velocity tracking 
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
 2016-05-14 12:45:29 +09:30
Paul Riseborough
627d08ecc9 Revert "EKF: Fix bug in output observer" 
This reverts commit 03f3df741589627bf15225327289b01916cc1a90.
 2016-05-14 12:26:46 +09:30
Paul Riseborough
03f3df7415 EKF: Fix bug in output observer 
Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
 2016-05-14 08:33:05 +09:30
Lorenz Meier
d595596c42 Merge pull request #114 from PX4/fix_linux_build 
CMakeLists: use find_package Eigen3
 2016-05-12 12:55:40 +02:00
Carl Olsson
5217b73df1 added bad_airspeed reporting (#123) 2016-05-12 10:06:04 +02:00
Carl Olsson
b126921894 changed airspeed innovation gate to 5 (#119) 2016-05-12 10:05:26 +02:00
Julian Oes
b8ccc58887 cmake: ignore more eigen warnings 2016-05-12 08:38:37 +02:00
Julian Oes
b74114a573 cmake: ignore deprecated warnings of Eigen 2016-05-12 08:27:59 +02:00
Julian Oes
07ecffc963 cmake: another try to get the module path right 2016-05-10 17:59:01 +02:00
Julian Oes
001433c660 cmake: debug output for path 2016-05-10 17:59:01 +02:00
Julian Oes
d242bb78b9 cmake: try to provide path to FindEigen3 2016-05-10 17:59:01 +02:00
Julian Oes
dcd191d734 cmake: include FindEIgen3.cmake for older cmake 2016-05-10 17:59:01 +02:00
Julian Oes
798cdfe675 build.sh: if cmake fails, don't continue with make 2016-05-10 17:59:01 +02:00
Julian Oes
37b73c7d85 README: updated build instructions, prerequisites 2016-05-10 17:59:01 +02:00
Julian Oes
fc47684942 build.sh: get path right for travis build 2016-05-10 17:59:01 +02:00
Julian Oes
54e62f1495 travis: just use libeigen3-dev 2016-05-10 17:59:01 +02:00
Julian Oes
3d28f7ecca CMakeLists: use find_package Eigen3 
Instead of hardcoding the Eigen3 path which only works on Mac, use
find_package(Eigen3).
 2016-05-10 17:59:01 +02:00
Paul Riseborough
e91a934f07 Merge pull request #124 from PX4/pr-removeVehicleArmStatus 
Remove reliance on vehicle arm status
 2016-05-10 10:54:32 +10:00
Paul Riseborough
1a24ec5f50 EKF: remove unused flag from control status message 2016-05-10 10:45:06 +10:00
Paul Riseborough
481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough
3cdf56e57c Merge pull request #122 from CarlOlsson/airspeed_fix 
fixed_airspeed_healthy_bug
 2016-05-09 10:24:22 +10:00
Paul Riseborough
e06c0f41d7 Merge pull request #117 from PX4/ekf2AccuracyImprovement 
EKF: Accuracy Improvements
 2016-05-09 09:24:44 +10:00
CarlOlsson
ee7d7aeb8a fixed_airspeed_healthy_bug 2016-05-08 18:30:37 +02:00
Paul Riseborough
175723f690 EKF: Allow for larger accel bias offsets on startup 2016-05-08 18:03:58 +10:00
Paul Riseborough
161ac2e051 EKF: ensure position co-variances are reset 
When transitioning into optical flow nav  from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
 2016-05-08 18:03:09 +10:00
Paul Riseborough
feb4db6347 EKF: protect against large IMU errors during initial tilt alignment 
Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
 2016-05-08 17:54:45 +10:00
Paul Riseborough
00973d6215 EKF: fix pos/vel fusion innovation variance bug 2016-05-08 17:51:47 +10:00
Paul Riseborough
2144a40a3c EKF: redefine accelerometer bias state inhibit switch bit location 2016-05-08 16:03:21 +10:00