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Author SHA1 Message Date
Paul Riseborough d69cc3d7c8 Merge pull request #293 from PX4/pr-fixExtVisionFallback 
EKF: Allow fallback to non-aiding mode if external vision fusion is lost
 2017-07-13 20:45:24 +09:00
Paul Riseborough 7a17f74910 Merge pull request #297 from ursa-drone/vispos_fix 
Fixed vision position fusion bug
 2017-07-12 22:15:54 +09:00
Paul Riseborough 48a42dfb5b Merge pull request #288 from PX4/pr-ekfDelVelBiasFix 
EKF: Improve protection against covariance instability in delta velocity bias states
 2017-07-04 08:57:32 +10:00
Paul Riseborough eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Paul Riseborough ae118940b1 Merge pull request #292 from PX4/pr-use_baro_align 
use baro for the ekf alignment if range finder is primary height source
 2017-07-03 20:31:16 +10:00
Paul Riseborough dfbc9de48e Merge pull request #291 from PX4/pr-ekfWindEstBugFix 
EKF: Fix bug affecting wind estimation for planes
 2017-07-01 11:06:58 +10:00
Paul Riseborough 73ef95b37f Merge pull request #289 from PX4/pr-height_fixes 
Pr height fixes
 2017-06-30 12:31:26 +10:00
Paul Riseborough 7f1cca5b28 Merge pull request #244 from PX4/pr-rangeAid 
Pr range aid
 2017-06-16 17:47:21 +10:00
Paul Riseborough d6decb3c84 Merge pull request #277 from PX4/pr-ekfBufferParam 
EKF: Add a parameter to enable setting of a minimum buffer length
 2017-06-15 07:34:21 +10:00
Paul Riseborough c48b879843 Merge pull request #276 from CarlOlsson/feature/only_update_mag_states 
EKF: Add feature to use the mag to only update the mag states
 2017-06-14 11:04:14 +10:00
Paul Riseborough 97eb17a62f Merge pull request #265 from PX4/pr-ekfOutputObserver 
EKF: add option to output velocity as time derivative of position
 2017-06-12 19:01:54 +10:00
Paul Riseborough 8a2c5c1ad2 Merge pull request #266 from dagar/valgrind 
ekf2 initialization fixes
 2017-04-25 17:38:17 +10:00
Paul Riseborough c62bdcbdb2 Merge pull request #264 from PX4/pr-ekfBuildErrorFix 
EKF: remove clang build error message
 2017-04-18 19:29:16 +10:00
Paul Riseborough d47c372872 Merge pull request #263 from PX4/pr-ekfBuildErrorFix 
EKF: Fix travis clang build error
 2017-04-18 17:12:51 +10:00
Paul Riseborough b07acd8cf3 Merge pull request #254 from PX4/pr-ekfAccelErrorHandling 
EKF: improve recovery from bad IMU accel data
 2017-04-12 21:39:14 +10:00
Paul Riseborough a1a5734443 Merge pull request #259 from PX4/pr-ekfBugFix 
EKF: Protect against covariance prediction and update errors
 2017-04-06 16:30:07 +10:00
Paul Riseborough 8f6c51e10e Merge pull request #257 from PX4/pr-ekfBugFix 
EKF: Do not move EKF origin when performing GPS checks
 2017-04-01 08:07:49 +10:00
Paul Riseborough 6d9b556b04 Merge pull request #255 from PX4/pr-ekfBugFix 
EKF: fix bugs preventing preflight checks passing
 2017-03-21 07:27:43 +10:00
Paul Riseborough 879ad1fd2c Merge pull request #231 from pickledgator/ev_hgt_counter_fix 
height counter update for ev primary height source
 2017-03-10 14:18:35 +11:00
Paul Riseborough 092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00
Paul Riseborough 6e5a9aabe1 Merge pull request #234 from PX4/pr-optFlowUpdates 
EKF: optical flow improvements
 2017-02-22 09:00:48 +11:00
Paul Riseborough 283c328c23 Merge pull request #212 from PX4/pr-ekfCriticalBugFix 
EKF: Fix bug causing repeated resets if GPS sensor disconnected
 2016-11-05 09:43:24 +11:00
Paul Riseborough 2bc50489fd Merge pull request #210 from PX4/remove_KH 
EKF: reduce KH to only the elements that are really needed, and merge the loops
 2016-11-05 09:24:13 +11:00
Paul Riseborough d07692e87e Merge pull request #204 from PX4/pr-gpsReset 
ekf reset: more granular reset / timeout strategy for gps fusion
 2016-10-26 06:52:10 +11:00
Paul Riseborough 5ab90048e1 Merge pull request #184 from PX4/pr-rngDelayFix 
fixed computation of range measurement timestamp
 2016-10-04 09:13:19 +11:00
Paul Riseborough b29174d86b Merge pull request #193 from PX4/pr-haglInit 
Pr hagl init
 2016-10-04 08:21:15 +11:00
Paul Riseborough 5702c2d51b Merge pull request #186 from priseborough/pr-ekfOutputPredictor 
EKF: Improve Output Predictor Tracking
 2016-10-04 07:47:34 +11:00
Paul Riseborough 7240fc78fe Merge pull request #183 from CarlOlsson/cont_wind_estimation 
Fix wind state  and wind variance initialization
 2016-08-23 19:55:22 +10:00
Paul Riseborough a2d866520a EKF: perform innovation check in all axes before fusing 3D mag data (#171) 
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
 2016-07-07 16:46:30 +02:00
Paul Riseborough 0cc0008927 Merge pull request #166 from georgehines/matlab-log-import 
add double support
 2016-06-30 17:21:37 +10:00
Paul Riseborough eaae95fdc4 Merge pull request #160 from priseborough/pr-ekf2Improvements 
EKF: clean up fusion control logic
 2016-06-30 17:18:14 +10:00
Paul Riseborough 16bdbebdc6 Merge pull request #161 from PX4/pr-resetFix 
do not return early in velocity reset method
 2016-06-08 17:23:09 +10:00
Paul Riseborough 928a7dd059 Merge pull request #157 from PX4/pr-ekf2ResetInterface 
Change state reset information interface
 2016-06-08 14:18:31 +10:00
Paul Riseborough 2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough e72788bd0f Merge pull request #159 from priseborough/pr-ekf2MagBugFix 
EKF: Fix critical bugs in mag fusion and yaw reset
 2016-06-08 14:11:47 +10:00
Paul Riseborough 3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00
Paul Riseborough 8bfdb0430c Merge pull request #150 from PX4/pr-ekf2StatusReporting 
EKF: Publish full reset and innovation consistency check status data
 2016-06-02 07:17:49 +10:00
Paul Riseborough 654093cae1 Merge pull request #155 from PX4/pr-ekf2AlignmentNoiseFilterInit 
EKF: Initialise alignment noise filters using valid data
 2016-05-28 09:12:15 +10:00
Paul Riseborough 35bb6cc6e9 Merge pull request #154 from PX4/pr-ekf2AlignmentBufferFlush 
EKF: Ensure bad initial data is flushed from buffers before use
 2016-05-28 08:41:24 +10:00
Paul Riseborough 9557f64248 Merge pull request #153 from PX4/pr-ekf2ExternalVision 
EKF: external vision bug fixes
 2016-05-27 18:57:41 +10:00
Paul Riseborough 53030b9297 Merge pull request #152 from PX4/pr-ekf2FixObsDataHandling 
EKF: Fix vulnerability to loss of observations due to high input data rates
 2016-05-26 21:44:10 +10:00
Paul Riseborough e2d9e19a5d Merge pull request #148 from PX4/pr-ekf2OutputPredictor 
EKF2 provide alternative output velocity prediction
 2016-05-24 08:46:33 +10:00
Paul Riseborough 9f0b9909e7 Merge pull request #149 from PX4/pr-ekf2FixUnwantedGpsUse 
EKF: prevent unwanted GPS use
 2016-05-24 08:45:18 +10:00
Paul Riseborough c8c2d6d963 Merge pull request #145 from CarlOlsson/small_fix 
Deleted second update of transformation matrix
 2016-05-23 07:40:58 +10:00
Paul Riseborough 4c5252269c Merge pull request #142 from PX4/pr-ekf2ImproveHeadingReset 
EKF: Improved heading reset
 2016-05-21 22:38:26 +10:00
Paul Riseborough 4b279a8836 Merge pull request #144 from waltjohnson/master 
Addressed C99 compiler issues of initializing variables in header and…
 2016-05-20 07:37:24 +10:00
Paul Riseborough f5e2dabc2b Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
Paul Riseborough e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough 867bc8c601 Merge pull request #139 from PX4/pr-ekf2Alignment 
EKF: Improve angular alignment consistency
 2016-05-18 21:23:31 +10:00
Paul Riseborough 50ba26a434 Merge pull request #134 from PX4/pr-ekf2Alignment 
EKF: Improved tilt alignment control
 2016-05-18 12:34:22 +10:00
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 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 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 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
Paul Riseborough c6775b5bf2 Merge pull request #118 from PX4/fix_member_init 
ekf: initialize _terrain_var
 2016-05-03 10:26:48 +10:00
Paul Riseborough 0a6d95c6c2 Merge pull request #116 from PX4/pr-covReset 
after a height reset zero the cross covariances for height and vertical
 2016-05-01 21:44:38 +10:00
Paul Riseborough 4c9c102597 Merge pull request #115 from PX4/fix_isfinite_again 
ekf: another stab at fixing isfinite for all
 2016-04-29 09:12:59 +10:00
Paul Riseborough 22ad87599c Merge pull request #112 from PX4/fix_ubuntu1604_2 
ekf: compile fix for Ubuntu 16.04
 2016-04-27 21:21:04 +10:00
Paul Riseborough 42635903cd Merge pull request #102 from priseborough/pr-ekf2HeightReset 
EKF: Improve height reset behaviour
 2016-04-23 10:04:13 +10:00
Paul Riseborough 13814681d7 Merge pull request #104 from georgehines/matlab-log-import 
Matlab log import
 2016-04-23 07:50:07 +10:00
Paul Riseborough 55db3d8725 Merge pull request #94 from priseborough/pr-sensorPosComp 
Add compensation for EKF sensor position offsets
 2016-04-14 11:45:24 +10:00
Paul Riseborough 64e95910c4 Merge pull request #92 from priseborough/pr-ekf2HgtResetFix 
EKF: Fix vulnerability in height reset
 2016-04-12 11:09:06 +10:00
Paul Riseborough 61b919754d Merge pull request #90 from georgehines/matlab-log-import 
version/toolbox compatibility
 2016-04-11 05:23:50 +10:00
Paul Riseborough a919088b6a Merge pull request #89 from georgehines/matlab-log-import 
Matlab log import
 2016-04-07 15:44:04 -07:00
Paul Riseborough 0ea55e25f9 Merge pull request #78 from PX4/pr-addGpsHgtOption 
EKF: Add option to use GPS for height and improve height fall-back behaviour
 2016-03-23 11:19:01 -07:00
Paul Riseborough 4bd79c9e5d Merge pull request #76 from PX4/pr-fixRngHgtMode 
EKF: Fix bugs preventing use of range finder as primary height source

Flight testing completed and I have checked that the other pending PR #75 rebases cleanly on it.
 2016-03-14 09:46:58 +11:00
Paul Riseborough 2882c53246 Merge pull request #74 from PX4/pr-optflow-reworked 
Add fusion of optical flow LOS rate measurements
 2016-03-11 11:13:03 +11:00
Paul Riseborough 829e0f1e65 Merge pull request #73 from mcsauder/master 
Conversion error correction and additional function overloads to allow standalone compilation.
 2016-03-11 11:02:32 +11:00
Paul Riseborough b163efeae2 Merge pull request #72 from PX4/pr-MagFusionBug 
Fix bug in declination fusion and standardise covariance update
 2016-03-05 11:34:19 +11:00
Paul Riseborough 2c9a814de1 Merge pull request #64 from mcsauder/master 
Additional filter variable initializations required to fully reset the filter variables
 2016-02-26 23:06:56 +11:00
Paul Riseborough 78d6f6941c Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting 
EKF: Improve Position Accuracy Reporting
 2016-02-26 22:48:44 +11:00
Paul Riseborough f058fc817f Merge pull request #63 from PX4/att_reset 
Attitude reset after heading reset
 2016-02-26 22:35:14 +11:00
Paul Riseborough 5483e7a477 Merge pull request #60 from PX4/pr-ReduceMagModeSwitchKick 
EKF: Fix Bug Causing Roll/pitch Disturbances On Mag Fusion Mode Switch
 2016-02-25 09:42:18 +11:00
Paul Riseborough e938475acc Merge pull request #59 from PX4/pr-ImprovedStartup 
Improvements to EKF startup - partially replaces PR#57
 2016-02-24 18:27:12 +11:00
Paul Riseborough 35865048a2 Merge pull request #55 from PX4/pr-FixYawFusionBug 
Fix bug in heading fusion and add new method for ground/indoor use
 2016-02-21 09:41:18 +11:00
Paul Riseborough 96c0e18acb Merge pull request #49 from PX4/pr-fixMagCovariance 
EKF: Fix magnetometer fusion and covariance handling
 2016-02-18 10:22:36 +11:00
Paul Riseborough a6515543da Merge pull request #41 from PX4/pr-magFusionUpdates 
EKF2: Prevent declination/heading drift during non-GPS operation
 2016-02-09 07:57:34 +11:00
Paul Riseborough f99256286b Merge pull request #40 from PX4/pr-updateOpticalFlowAutoCode 
Update EKF Optical Flow Fusion Autocode Fragments
 2016-02-07 19:35:38 +11:00
Paul Riseborough 7713cc8c20 Merge pull request #17 from priseborough/pr-addMagErrHandling 
EKF: Add magnetometer fusion error handling
 2016-01-28 13:43:57 +11:00