d80a233bcb
ekf2: fix code style
2016-10-11 08:52:35 +02:00
6eabf80f2a
ekf2: Publish estimator solution status flags
2016-10-11 08:52:35 +02:00
c0fe08a203
ekf2: publish estimator status position accuracy
2016-10-11 08:52:35 +02:00
5a69f4560a
ekf2: Publish innovation test status data
2016-10-11 08:52:35 +02:00
8ff237c69f
Remove size optimization for individual modules
...
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
9a8e6de7fe
EKF2: Remove QuRT hackery
2016-09-11 20:07:30 +02:00
d810726c6e
EKF2: Only use the memory it needs
2016-08-15 19:53:21 +02:00
a130b6a65c
style cleanup
2016-08-15 19:53:21 +02:00
8f01324890
ekf2 fix and enforce code style
2016-08-07 10:40:17 +02:00
457526ebe7
Don't push bad values from lidar to EKF2 ( #5196 )
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Report terrain altitude
2016-08-01 23:30:40 -07:00
a1c8585342
EKF2: Report zero as position until local pos is valid
2016-07-31 14:01:32 +02:00
826eaed2ee
EKF2: Clean up vision timestamps
2016-07-10 12:43:21 +02:00
4252511b8e
add bitmask param metadata
2016-07-07 12:42:59 +02:00
9c73eae941
sensor_combined: replace accel & gyro integral with value, use float for dt
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Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.
Note that this breaks the replay format for sdlog2 replay
2016-07-07 11:35:50 +02:00
8e136779ec
stack sizes: reduce stack sizes for modules that use sensor_combined
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The sensor_combined topic got reduced from ~780 bytes to 72 bytes.
2016-07-07 11:35:50 +02:00
c5ea4b43be
sensor_combined.msg: make timestamps relative
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This is needed for the new logger & saves some space as well.
2016-07-07 11:35:50 +02:00
d846ad5dac
sensors: move voting into sensors module
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- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
2016-07-07 11:35:50 +02:00
b4ecc5a8d9
sensor_combined cleanup: remove many unneeded fields
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Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.
Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.
Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.
At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures
2016-07-07 11:35:50 +02:00
3524fd7d24
ekf2: don't ignore function argument ( #4990 )
2016-07-05 17:40:37 +02:00
ed19d1ff6b
EKF2 wrapper: Optimize for size
2016-07-01 18:22:56 +02:00
940ac5471d
ekf2: remove unused gps_msg.time_usec_vel
2016-06-24 00:22:01 +02:00
e2a7145379
vehicle_gps_position: remove timestamp_variance & timestamp_velocity (they're not used)
2016-06-24 00:22:01 +02:00
89f5bd27e8
vehicle_gps_position: use timestamp field instead of timestamp_position
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timestamp was unused. This allows to remove timestamp_position.
2016-06-24 00:22:01 +02:00
27e61127a8
ekf2: fix if else logic
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Signed-off-by: Roman <bapstr@ethz.ch >
2016-06-23 09:08:35 +02:00
7f8c183d99
added airspeed mode enum to control state topic
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Signed-off-by: Roman <bapstr@ethz.ch >
2016-06-23 09:08:35 +02:00
1bce38bd9b
code style formatting
2016-06-23 09:08:35 +02:00
c2da51ccf5
use airspeed mode parameter to decide which method used to publish
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control state airspeed
2016-06-23 09:08:34 +02:00
6739ae9dfc
ekf2: substract gyro bias from control state rates
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Signed-off-by: tumbili <roman@px4.io >
2016-06-22 07:10:20 +02:00
d66af65a92
ekf2: fixed airspeed thr bug
2016-06-14 10:28:40 +02:00
b9e9f62bee
code style formatting
2016-06-08 17:14:33 +02:00
acea2f98d5
log airspeed in rpl mode even if it is not fused
2016-06-08 17:12:05 +02:00
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
9e0ab5d266
ekf2: update height source parameter documentation
2016-05-28 14:54:14 +02:00
ac50510c78
ekf2: Use parameter defined values for EV noise if vision system estimates not available
2016-05-28 14:54:14 +02:00
37b4955f07
ekf2: Add use and logging of external vision data
2016-05-28 14:54:14 +02:00
57c1138d28
ekf2: add parameters for control of external vision fusion
2016-05-28 14:54:14 +02:00
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
d8bcd77290
EKF2: Remove unused header
2016-05-21 14:10:49 +02:00
83cc9ef496
ekf2: Enable tuning of initial tilt alignment uncertainty
2016-05-18 12:44:04 +10:00
7d2d15643d
ekf2: Add tuning for IMU switch-on bias errors
2016-05-18 12:44:04 +10:00
3aa2297497
ekf2: Add parameters to control output filter
2016-05-14 11:24:41 +02:00
88800b9e36
added tas_innov_gate to params
2016-05-13 13:55:57 +02:00
7d64aa8057
ekf2: raise stack size on Snapdragon
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It seems that the stack size was exhausted on Snapdragon.
2016-05-11 14:53:55 +02:00
4480e4206d
ekf2: remove use of arm status
2016-05-11 14:53:55 +02:00
af9a7a39f2
ekf2: add handling of filter internal fault message
2016-05-11 14:53:55 +02:00
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
7f1632d65b
ekf2: correct control state message for 3D acc bias
2016-05-11 14:53:55 +02:00
6b5e77250f
ekf2: Added airspeed to rpl logging
2016-05-10 21:32:55 +02:00
57f73e59b7
warn immediately if ekf2 instance allocation has failed
2016-05-03 16:09:26 +02:00
9f5e9594f5
implement ekf instance and block parameter instance as class members
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in order to avoid memory management
2016-05-03 16:09:26 +02:00
Paul Riseborough