cf37be8c44
ekf2 handle accelerometer clipping
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- track clipping per IMU axis and pass through to ecl/EKF
- update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663 )
2020-04-07 20:11:08 -04:00
a70aa6349a
ECL interface: output vector quantities by return-by-value
2020-04-01 11:47:39 +02:00
1288db9314
ekf2_params.c: EKF2_MAG_TYPE: Info about yaw without mag
2020-03-25 09:41:54 +01:00
0f2f72a757
Ekf2: Add bitmask to select terrain estimator aiding sources
2020-03-19 20:27:39 +03:00
58ded8d4c0
ekf2: remove unused function declatation
2020-03-18 14:33:11 +01:00
ab92b46e69
Update ecl to add ability to recover from bad magnetic yaw
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* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator
2020-03-15 12:57:25 -04:00
0eca583ecf
sensors: move baro aggregation to new sensors/vehicle_air_data
2020-03-12 19:06:34 -04:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
4ddf0f9dc1
ekf2_main.cpp: fixed bug in the calculation of the mag bias calibration time
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-03-10 08:54:04 +01:00
8de1f5229b
EKF2: use fixed time constant for GPS blending
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
357700aa8d
EKF2 GPS blending: fall out of blending if one module lose 3D fix
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
a10a228092
EKF2 GPS blending: reset relative position offsets if blending not feasible
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-03-04 16:46:20 +01:00
7e00dcd382
EKF2: Fix GPS blending time jitter
2020-02-26 07:39:47 +01:00
a61f1647ad
replay: remove GPS relative timestamps
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-02-07 08:19:22 +01:00
37db7d3bba
ekf2: define max number of range finders seperate from max number of mutli uORB topics
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-02-05 08:03:23 +01:00
9886b11f99
EKF params - clarify body frame origin/orientation
2020-01-30 07:29:11 -05:00
10410fc868
msg: rename sensor_bias -> estimator_sensor_bias
2020-01-27 09:03:27 +01:00
5a5b3a44ee
Update flow interface
2020-01-24 16:49:17 +03:00
47cab3dba5
Update external vision interface ( #13989 )
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* Update external vision interface
* Update ECL Version
2020-01-23 15:36:08 +01:00
8d25dcd543
Update EKF auxiliary velocity interface
2020-01-23 13:27:30 +01:00
9d184ea3d6
Update EKF range finder interface
2020-01-23 13:27:30 +01:00
230d7f2558
Update EKF airspeed interface
2020-01-23 13:27:30 +01:00
8772e09963
Update EKF gps interface
2020-01-23 13:27:30 +01:00
19b7421f86
Update EKF baro interface
2020-01-23 13:27:30 +01:00
439a20bfcb
Update EKF mag interface
2020-01-23 13:27:30 +01:00
697dbfb9f8
sensors/vehicle_imu: incremental step towards multi-EKF
2020-01-22 18:04:29 -05:00
21a8d7db7f
WorkItem modules: Run() shouldn't be public
2020-01-22 12:03:03 -05:00
04e09d772e
Add missing mag calibration biases
2020-01-21 13:36:08 +03:00
a3d2254e44
Move mag downsampling to ECL lib
2020-01-21 13:36:08 +03:00
4e8665082e
Move baro downsampling and dynamic pressure comp to ECL lib
2020-01-21 13:36:08 +03:00
c270e75156
vehicle_local_position: delete unused and redundant dist_bottom_rate
2020-01-18 12:50:57 -05:00
bb465ca5b7
sensor accel/gyro message cleanup
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- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 01:15:00 -05:00
32a4e3a942
Update ekf vision parameter description
2020-01-09 10:36:10 +01:00
1560309687
Checking all used vision data for being finite
2020-01-09 10:36:10 +01:00
90aa4bb852
Support 3d auxvel fusion
2020-01-09 10:36:10 +01:00
a67229e60e
Use full variance of vision data
2020-01-09 10:36:10 +01:00
dab17d628d
PreFlightChecker: update unit tests
2019-12-24 13:18:47 -05:00
8080615191
PreFlightChecker: add spike limit argument for innovation check and
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increase optical flow test limits.
2019-12-24 13:18:47 -05:00
24efc1b79c
Set not yet supported estimator_innovations fields to zero
2019-12-05 11:29:29 +01:00
5d0965e83a
Log height innovation sensor specific
2019-12-05 11:29:29 +01:00
b73c80428e
ECL: Clean velPos logging, deprecate ekf2_innovations msg
2019-12-05 11:29:29 +01:00
97c6a28a70
replace unnecessary perf_alloc_once usage
2019-11-30 21:17:15 -05:00
09c8c8f706
ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver
2019-11-27 10:33:27 +01:00
20705e3c53
ekf2_main: simplify "if true else false" with direct boolean assignment
2019-11-27 10:33:27 +01:00
f6a72663fa
ekf2_main: extract gps mgs fill
2019-11-27 10:33:27 +01:00
5d6e0587db
ekf_main: fill gps gdop topic with pdop (combination of hdop and vdop)
2019-11-27 10:33:27 +01:00
12177cb33b
commander: add pre-flight check and parameter for magnetic field strength
2019-11-25 21:15:55 +01:00
a475d71ca9
astyle shift module documentation to bottom of files
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- Astyle chokes on the module description strings, so for now we can keep them near the bottom of each file.
2019-11-02 10:58:47 -04:00
3198610f85
src/platforms: move all headers to platforms/common/include/px4_platform_common
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and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
2019-10-30 11:48:47 +01:00
9f4258f6ff
clang-tidy: partially fix hicpp-explicit-conversions
2019-10-28 10:50:31 -04:00
Daniel Agar