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22,957 Commits 852 Branches 161 Tags
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Commit Graph
39 Commits
Author SHA1 Message Date
ChristophTobler 9b5de23553 add ref_timestamp (time when origin was set) to lpe 2017-06-12 09:39:41 +05:30
Kabir Mohammed e63747ec2f lpe : changes to allow hybrid GPS-denied navigation 2017-02-15 21:48:33 +01:00
Kabir Mohammed 0f91378eeb lpe : use vision timestamps to compute measurement delay 2017-02-15 21:48:33 +01:00
Kabir Mohammed 85df00d2da lpe : use per-measurement variance for vision 2017-02-15 21:48:33 +01:00
Paul Riseborough 92f5211f55 local_position_estimator: Make optical flow data conversions consistent with uORB interface 2016-12-30 10:39:10 +01:00
James Goppert c28cd76e5f LPE fault relaxation and sitl fix (#6146) 
* Set LPE FUSE for standard iris sitl config.

* Relax fault detection handling.

* Always correct lidar.
 2016-12-23 15:08:37 -05:00
James Goppert 6ff85fb927 LPE land bug fix and switch to fusion bit mask. 2016-12-21 08:43:18 +01:00
James Goppert 068ef591ab Added fake landing xy velocity measurement to lpe. (#5820) 
Flight tested and is working.
 2016-11-09 19:40:25 -05:00
Roman 7c2ebd96a0 lpe: remove usage of euler angles from attitude topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 3faaeb06d1 attitude setpoint topic: cleanup of matrix class usage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Lorenz Meier 13833e5fd6 LPE: Use euler angles derived from quaternion 2016-10-18 20:46:08 +02:00
James Goppert e73218c112 Increase min agl for flow from 5 to 30 cm to prevent drift on ground. 2016-10-16 12:12:19 -04:00
James Goppert 9c82293bc4 Fix comment. 2016-10-14 07:00:13 -05:00
James Goppert 3ffff212e1 Added landed agl correction for lpe. 2016-10-14 07:00:13 -05:00
James Goppert cf658638f4 LPE flow improvements. 2016-10-12 23:05:53 -05:00
James Goppert cb5728297e LPE fix to enable visual odom. only navigation. (#5588) 2016-10-03 14:58:02 -04:00
James Goppert 7c2798269c Added vision delay compensation to LPE. (#5585) 2016-10-03 02:28:46 -04:00
James Goppert fe40e9cfae LPE vision estimation fixes. (#5505) 2016-10-01 09:02:12 -04:00
Beat Küng ce0d31b7d9 mavlink log: ensure all critical & emergency msgs are also logged to console & ulog 
Critical messages that the user sees should also go to the log file, so
that the exact error (with time) can later be analyzed from the log file.
 2016-09-30 13:50:51 +02:00
Lorenz Meier ea212a8ef5 LPE: Avoid false positives for GPS 2016-09-03 12:30:42 +02:00
James Goppert 36acb90680 Fix gps noise matrix for LPE. 2016-08-29 16:08:28 -04:00
James Goppert 6b08e8ce1f Improvements to lpe for flow and gps. (#5401) 2016-08-27 23:50:24 -04:00
James Goppert be1417f613 LPE alt init now allows baro only init without GPS w/o changing flag. (#5398) 
Flight test went well, merging.
 2016-08-27 21:57:32 -04:00
James Goppert 6ac79aa55f Formatting. 2016-08-05 06:52:35 -04:00
Lorenz Meier 08f5ece306 Remove on arming reset, be less verbose in normal conditions output 2016-08-05 06:51:54 -04:00
James Goppert 05315abc89 Optical flow simulator and install cleanup. (#5132) 
sitl CI is having some issue cloning, but I have verified it locally for various configs
 2016-07-24 13:07:14 -04:00
James Goppert a4ef364f80 Added innovation logging to LPE. (#5124) 2016-07-22 19:19:30 -04:00
James Goppert 9fcf121380 LPE: Don't use home as local origin (#5067) 2016-07-17 10:16:17 -04:00
tommises 4fa2c54485 Mocap timestamp cleanup (#5021) 2016-07-11 12:46:29 +02:00
Lorenz Meier c0a406b81f LPE: Clean up vision timestamps 2016-07-10 12:43:34 +02:00
Beat Küng d846ad5dac sensors: move voting into sensors module 
- 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
James Goppert 056f73f5d2 Changed LPE distance sensor timeout logic. (#4996) 2016-07-06 10:31:55 -04:00
James Goppert 00dfc99e08 LPE Variance Dependent Publication (#4914) 
* 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
James Goppert 5935b18581 Added EPH/EPV min to LPE. (#4915) 2016-06-27 08:46:00 +02:00
James Goppert 2a26611cf5 Make LPE sonar reading more robust. (#4806) 2016-06-15 12:37:52 -04:00
James Goppert 9fedda43c6 Revert "Changed baro init count for LPE." 
This reverts commit cefc00af39.
 2016-06-06 20:02:45 -05:00
James Goppert cefc00af39 Changed baro init count for LPE. 2016-06-06 19:53:29 -05:00
James Goppert 97e6a57501 Add more GPS checks for LPE (#4750) 
* Added more GPS checks for LPE.

* Add logic to force GPS alt init.
 2016-06-06 19:40:41 -05:00
James Goppert 0bfe3a4403 Updated lpe for separate sensor source files, also made more quiet. 2016-04-14 14:32:22 -04:00