fc80be0917
ekf2: improve preflight checks and publish status
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Separate the vertical and horizontal checks for use by local position validity reporting
Add checking of yaw using a decaying envelope filter to the horizontal checks.
Publish the check result to estimator_status topic.
2017-12-04 09:09:54 +00:00
d1a4c2dcd0
cmake handle git submodule depdencies
2017-11-23 00:22:45 -05:00
44a71ad6c9
ekf2: Update parameter descriptions ( #8292 )
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Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
2017-11-15 09:19:08 -05:00
a410893080
ecl: Update ekf2 to version that addresses known vulnerabilities
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See:
https://github.com/PX4/ecl/pull/350
https://github.com/PX4/ecl/pull/354
Note the amount of stack allocation has had to be increased to accomodate pr350
2017-11-13 22:50:12 +01:00
0a58bd309c
EKF2 always publish status message ( #8234 )
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* EKF2 always publish status message
* EKF2 fix comment typo
* EKF2 time slip use signed int and consolidate
* EKF2 minor readability improvements
2017-11-08 07:55:50 +11:00
589d58ce87
ekf2: Fix bug preventing first IMU failover bias reset
2017-10-30 08:21:09 +01:00
0c9e07c95a
ekf2: repeat IMU bias reset until successful
2017-10-30 08:21:09 +01:00
e5ead354f0
EKF2 reset IMU bias if the accel or gyro changes
2017-10-29 16:24:31 +01:00
3fc7aba178
TECS: Use version in ECL library
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This change updates a number of interfaces to use the new TECS implementation from the ECL library.
2017-10-22 21:56:06 +02:00
d7c8d53489
use get() for BlockParam
2017-10-18 11:08:58 +02:00
40b8d8bd48
use distance to ground if on ground an distance is out of range
2017-10-18 11:08:58 +02:00
ed950d70ce
ekf2: Add missing documentation
2017-10-09 08:58:01 +02:00
dbc3a13236
ekf2: remove unused parameter
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The logging of replay data is now controlled by the logging module
2017-10-09 08:58:01 +02:00
6cfee65060
ekf2: Add parameters to tune accelerometer bias learning
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These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
2017-10-09 08:58:01 +02:00
66277d0c02
ekf2: Added @reboot_required to parameters
2017-10-09 08:58:01 +02:00
ec61ae0003
ekf2: add some comments
2017-10-04 13:11:11 +02:00
f9c9890a49
EKF2: Add minimal stack for M7 targets
2017-09-29 10:13:51 -04:00
ee82e80517
ekf2: subscribe to multi dist instances and check orientation
2017-09-25 08:52:21 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
5bea264a5f
Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules
2017-09-21 17:44:57 +02:00
3498fe0c6f
delete sdlog2 EKF2 replay ( #7982 )
2017-09-19 10:20:41 -04:00
545ce9ae24
modules remove extra semicolons
2017-09-16 21:29:52 +01:00
9b5fe8c476
ignore -Wsign-compare per module
2017-09-07 10:27:36 +02:00
dc18112697
EKF2 limit map reprojection ( #7900 )
2017-09-05 12:56:53 -04:00
b70b8288b9
px4_includes cleanup incomplete list
2017-08-20 20:42:42 +02:00
cae4694d6a
EKF: Use estimator scheduling order
2017-08-02 21:18:35 +02:00
08059caf89
EKF: Enable compensation for static pressure positional error ( #7264 )
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* msg: add reporting of multi rotor drag fusion
* ekf2: add reporting of multi rotor drag fusion
* ekf2: Add parameters required to tune multi-rotor wind estimation
* ekf2: Add correction for static pressure position error
* ekf2: Use correct air density for position error corrections
* ekf2: fix parameter documentation error
* ekf2: Add separate forward and reverse position error correction factors
* ekf2: Fix formatting and parameter descriptions
* ekf2: Improve comments
2017-08-01 07:29:08 +10:00
02ea10ed99
range finder: reject if min/max value
2017-07-31 17:33:02 +02:00
cf87096b05
EKF2 don't poll parameter_update
2017-07-29 09:15:52 +02:00
5324f30cb6
ekf2: Let the EKF know if the vehicle is operating as a fixed wing type. ( #7667 )
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Setting this enables the EKF to use the GPS velocity to recover from bad compass yaw at launch.
2017-07-29 07:18:58 +10:00
bc951f6f15
add constraint to ground distance to avoid values below rng_gnd_clearance ( #7662 )
2017-07-22 07:49:00 +10:00
f93be992ce
ekf2: Update documentation for compatibility with Doxygen ( #7657 )
2017-07-20 22:05:29 +10:00
03e11c4d18
update ecl and add param for innovation consistency checks for range aid fusion ( #7585 )
2017-07-19 18:25:12 +10:00
d419537a72
ekf2_main: initialize _mag_time_sum_ms & _balt_time_sum_ms
2017-07-18 12:54:28 +02:00
d92377a6e6
ekf2: remove unused function ( #7529 )
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* ekf2: remove unused function
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
* ekf2: removed unused variable _mag_decl_saved
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-07-17 17:24:23 +10:00
0a22a9c47c
change gyro & accel dt from float to uint64. This has the benefit of
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calculating the estimator timeslip correctly.
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com >
2017-07-16 14:08:37 +02:00
a63699060d
ekf2: use ModuleBase & add module documentation
2017-07-14 11:57:11 +02:00
3bdd0e95dd
EKF2: Show time slip on console
2017-07-09 21:58:41 +02:00
91144f502f
EKF2 build fix
2017-07-07 08:29:10 +02:00
63cbce6bd3
ekf2: Increase RAM to remove stack space warnings
2017-07-06 22:20:48 +02:00
ee75f0eb0e
ekf2: Use updated quaternion type def
2017-07-06 22:20:48 +02:00
d68dd6ae1e
ekf2: Fix parameter description typo
2017-06-21 09:28:42 +02:00
b3ceb37272
ekf2: Add parameter to set range dependant noise
2017-06-21 09:28:42 +02:00
929ecd0e94
change to uint32 to match updated type from ecl
2017-06-21 09:28:42 +02:00
33495e8143
ekf2: added parameters to specify horizontal speed and absolute altitude
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thresholds for range aid mode
Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
b5a94481a8
ekf2_main: support range aid feature
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
68c2eb9dec
ekf2_params: added range aid parameter
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-06-21 09:28:42 +02:00
4b7ae78fda
ekf2: publish vertical position derivative
2017-06-19 09:09:52 +02:00
833cdc9236
EKF2 update GPS and airspeed delay defaults ( #7353 )
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* update ecl to latest
* EKF2_GPS_DELAY change default 200ms -> 110ms
- 110msec is more representative of what most users are flying
* EKF2_ASP_DELAY change default 200ms -> 100ms
The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays.
2017-06-05 10:31:46 +10:00
1671c32238
BlockParamExt replace with BlockParam reference types
2017-06-04 18:22:42 +08:00
Paul Riseborough