a147179ad8
local_position_estimator: publish vertical position derivative
2017-06-19 09:09:52 +02:00
9b5de23553
add ref_timestamp (time when origin was set) to lpe
2017-06-12 09:39:41 +05:30
70ccfe80a7
Fuse flow only if it is activated in param LPE_FUSION
2017-06-04 04:20:46 +08:00
5d626bd940
clang-tidy remove redundant init
2017-06-02 19:35:18 -04:00
64ed96d81a
clang-tidy readability-simplify-boolean-expr
2017-06-02 19:35:18 -04:00
e61e733d1d
local_position_estimator: publish placeholder values for velocity accuracy
2017-05-03 08:37:14 +02:00
e63747ec2f
lpe : changes to allow hybrid GPS-denied navigation
2017-02-15 21:48:33 +01:00
8eaddeee0a
lpe : move to new vision topic
2017-02-15 21:48:33 +01:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
c28cd76e5f
LPE fault relaxation and sitl fix ( #6146 )
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* Set LPE FUSE for standard iris sitl config.
* Relax fault detection handling.
* Always correct lidar.
2016-12-23 15:08:37 -05:00
54ab5cde2f
Fix unused variable in LPE
2016-12-21 22:28:42 +01:00
6ff85fb927
LPE land bug fix and switch to fusion bit mask.
2016-12-21 08:43:18 +01:00
068ef591ab
Added fake landing xy velocity measurement to lpe. ( #5820 )
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Flight tested and is working.
2016-11-09 19:40:25 -05:00
526fb8f515
Remove q_valid flag from attitude topic
2016-10-18 20:46:08 +02:00
13833e5fd6
LPE: Use euler angles derived from quaternion
2016-10-18 20:46:08 +02:00
3ffff212e1
Added landed agl correction for lpe.
2016-10-14 07:00:13 -05:00
cf658638f4
LPE flow improvements.
2016-10-12 23:05:53 -05:00
cb5728297e
LPE fix to enable visual odom. only navigation. ( #5588 )
2016-10-03 14:58:02 -04:00
7c2798269c
Added vision delay compensation to LPE. ( #5585 )
2016-10-03 02:28:46 -04:00
fe40e9cfae
LPE vision estimation fixes. ( #5505 )
2016-10-01 09:02:12 -04:00
d5c96ec66a
LPE rate and stddev changes for mocap/vision. ( #5467 )
2016-09-07 23:56:10 +00:00
76c2d92b7e
Fix for lpe accel bias saturation. ( #5466 )
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* Fix for lpe accel bias saturation.
* Formatting.
2016-09-07 23:53:50 +00:00
f999fbe440
Publishes LPE GPS epv and eph as estimator status. ( #5413 )
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* Publishes LPE GPS epv and eph as estimator status.
* Adds timestamp
2016-09-03 22:00:51 +02:00
6b08e8ce1f
Improvements to lpe for flow and gps. ( #5401 )
2016-08-27 23:50:24 -04:00
4499006744
Condition LPE covariance to avoid blowing up in edge cases. ( #5377 )
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Merging this as it is definitely more robust than what we have now.
2016-08-27 21:18:27 -04:00
e2afb0be6b
px4_log.h: remove hrt_absolute_time() declaration (it does not belong here)
2016-08-24 21:24:35 +02:00
3cc64b3b7b
LPE: Remove unused var
2016-08-07 10:39:31 +02:00
08f5ece306
Remove on arming reset, be less verbose in normal conditions output
2016-08-05 06:51:54 -04:00
cfa203ca22
Remove LPOS.Z reset ( #5228 )
2016-08-04 11:32:26 +02:00
05315abc89
Optical flow simulator and install cleanup. ( #5132 )
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sitl CI is having some issue cloning, but I have verified it locally for various configs
2016-07-24 13:07:14 -04:00
a4ef364f80
Added innovation logging to LPE. ( #5124 )
2016-07-22 19:19:30 -04:00
9fcf121380
LPE: Don't use home as local origin ( #5067 )
2016-07-17 10:16:17 -04:00
817f695297
Change to LPE terrain model to account for velocity scaling. ( #5027 )
2016-07-11 16:02:39 -04:00
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
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
09ddc24801
Added agl smoothing to LPE. ( #4976 )
2016-07-05 16:54:08 -04:00
cb3120764a
Made LPE var pub threshold a parameter. ( #4959 )
2016-07-01 13:27:29 -04:00
00dfc99e08
LPE Variance Dependent Publication ( #4914 )
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* Use variance to control publishing for LPE.
* Don't stop publishing if we have gps/ baro.
* LPE tuning and cleanup.
* Added bias saturation to LPE.
* Added vector enabled low pass filter block.
* Added rk4 integration and pub lowpass to LPE.
* Fix std::abs issue on mac/ reset lowpass on state reset.
* Don't estimate gyro bias when rotating at high speed att_est_q.
* Lowered low pass on position to 5 Hz for LPE.
* Streamline state space update for LPE.
* Added health flags to est2 log.
* Revert to old tuning, more conservative, less faults.
* Formatting.
* Fix for fault message on LPE.
* Added subscription throttling to LPE.
* Formatting.
2016-07-01 11:43:09 -04:00
2a26611cf5
Make LPE sonar reading more robust. ( #4806 )
2016-06-15 12:37:52 -04:00
97e6a57501
Add more GPS checks for LPE ( #4750 )
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* Added more GPS checks for LPE.
* Add logic to force GPS alt init.
2016-06-06 19:40:41 -05:00
5ec7de3a5a
Make LPE est always log. ( #4749 )
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This is a trivial change so I'm going to merge to help address edge cases in users logs.
2016-06-06 14:12:18 -05:00
47d2cb8134
LPE: Fix stack smashing
2016-05-21 14:10:12 +02:00
0bfe3a4403
Updated lpe for separate sensor source files, also made more quiet.
2016-04-14 14:32:22 -04:00
bba0d0384d
drivers/modules: changes after mavlink_log change
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The mavlink_log API changes lead to changes in all drivers/modules using
it.
2016-03-24 13:10:02 +01:00
bcba1fb27e
Enabled gps delay for lpe based on x hist.
2016-03-17 11:27:13 -04:00
4f29c7c4db
switch the modules implementing the block structure to px4_poll such that in posix_sitl simulation the poll works as expected, blocks the module and doesn't overload the CPU
2016-03-09 09:38:32 +01:00
613ec40d86
LPE: comment out gps delay handling, too much memory required.
2016-03-08 11:48:20 -05:00
d37ddb6102
Work on LPE GPS delay.
2016-03-08 09:38:31 -05:00
ac66050cd6
LPE tuning for GPS delay in sim.
2016-03-08 08:56:33 -05:00
Paul Riseborough