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Author SHA1 Message Date
James Goppert 13df03c78a Fix bug with imu rotation for tyhpoon in sitl gazebo. (#5988) 2016-12-06 12:55:05 -05:00
James Goppert fa834497bf Setup sf0x driver to handle all lightware lidars. (#5957) 2016-12-06 12:19:13 -05:00
James Goppert 4b6a11161e Fixes for sitl gazebo ground truth. (#5932) 
* Fixes for sitl gazebo ground truth.

* Switch ekf2 to new logging module for sitl.
 2016-12-03 11:40:53 -05:00
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
James Goppert 4d6d0b2850 Fix px4io bind failed message to say safet is off instead of armed. (#5834) 
Minor message clarity fix.
 2016-11-09 19:39:39 -05:00
James Goppert 3511f8abfb Add position ground truth. (#5819) 
Have confirmed this works with gazebo sitl.
 2016-11-09 19:38:38 -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
James Goppert 91f92aa7d3 Update sitl gazebo. (#5580) 2016-10-01 07:58:56 -04:00
James Goppert d5c96ec66a LPE rate and stddev changes for mocap/vision. (#5467) 2016-09-07 23:56:10 +00:00
James Goppert 76c2d92b7e Fix for lpe accel bias saturation. (#5466) 
* Fix for lpe accel bias saturation.

* Formatting.
 2016-09-07 23:53:50 +00:00
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 4499006744 Condition LPE covariance to avoid blowing up in edge cases. (#5377) 
Merging this as it is definitely more robust than what we have now.
 2016-08-27 21:18:27 -04:00
James Goppert dbc5e90993 Change to sitl to allow no board rotation for gazebo. (#5400) 
* Change to sitl to allow no board rotation for gazebo.

* Fix typo in typhoon launch file and create config for lpe.

* Exit early on test failures
 2016-08-27 20:03:54 -04:00
James Goppert 90b509a73f Update driver framework. (#5347) 2016-08-18 19:32:57 -04:00
James Goppert 372d16ee5e Update matrix. (#5346) 2016-08-18 18:01:55 -04:00
James Goppert 569e87d46b Update sitl gazebo. (#5345) 2016-08-18 17:22:13 -04:00
James Goppert 818840b576 Path cleanup, low impact changes (#5340) 
* Low impact changes from path_cleanup branch.

This is a step towards minimizing the diff with path_cleanup branch.

* Update ecl.

* Revert matrix update.

* Revert ecl and matrix.

* Update sitl gazebo.

* Revert sitl_gazebo and matrix changes.
 2016-08-18 15:37:23 -04:00
James Goppert b36d705688 Update matrix. (#5310) 2016-08-12 14:24:35 -04:00
James Goppert bedf081d92 Sitl gazebo update. (#5309) 2016-08-12 13:49:48 -04:00
James Goppert 699b6a2cb3 Improvements to SITL to make paths more flexible. (#5181) 2016-08-05 06:23:59 -04:00
James Goppert eeb73888fd update sitl_gazebo (#5224) 2016-08-03 18:46:25 -04:00
James Goppert 391eb7f8df Sitl update. (#5220) 2016-08-03 13:19:26 -04:00
James Goppert 437221bec2 Make LPE default estimator. (#4483) 2016-08-02 02:02:01 -07:00
James Goppert a58c2f416f Update sitl_gazebo. (#5195) 2016-08-01 15:30:31 -04:00
James Goppert 5f16c97662 Added mb12xx sensor enable. (#5164) 2016-07-29 16:18:27 -04:00
James Goppert 7458f1e07d Update sitl_gazebo. (#5136) 
* Update sitl_gazebo.

* Update sitl_gazebo.
 2016-07-24 17:07:14 -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
James Goppert 817f695297 Change to LPE terrain model to account for velocity scaling. (#5027) 2016-07-11 16:02:39 -04:00
James Goppert 056f73f5d2 Changed LPE distance sensor timeout logic. (#4996) 2016-07-06 10:31:55 -04:00
James Goppert c38f23c0e1 Bump matrix version. (#4993) 2016-07-05 21:20:17 -04:00
James Goppert 9c0ed52bb8 Updated matrix lib to 1.0.0. (#4991) 
* Updated matrix lib to 1.0.0.

* Bump matrix version.
 2016-07-05 17:38:35 -04:00
James Goppert 09ddc24801 Added agl smoothing to LPE. (#4976) 2016-07-05 16:54:08 -04:00
James Goppert cb3120764a Made LPE var pub threshold a parameter. (#4959) 2016-07-01 13:27:29 -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 bf9f3b6061 Added QAV-R (raceblade) 5". (#4897) 
* Added QAV-R (raceblade) 5".

* Added I gain for qav-r.
 2016-06-24 11:44:39 +02:00
James Goppert 2a26611cf5 Make LPE sonar reading more robust. (#4806) 2016-06-15 12:37:52 -04:00
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 5ec7de3a5a Make LPE est always log. (#4749) 
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
James Goppert 8a3b9e3b4e Merge pull request #4273 from jgoppert/sf0x_handling 
Added LPE to testing, fix LPE logging, add SENS_EN_SF0X
 2016-04-14 18:28:30 -04:00
James Goppert 2527a88042 Merge pull request #4272 from jgoppert/mpc_alt_mode 
Added mpc_alt_mode.
 2016-04-14 18:03:06 -04:00
James Goppert 31cef095fe Merge pull request #4271 from jgoppert/uorb_update 
Added control state subscription.
 2016-04-14 17:45:01 -04:00
James Goppert 4666a9a4db Merge pull request #4269 from jgoppert/mc_est_groups 
Added SYS_MC_EST_GROUP to allow fine grained algorithm selection.
 2016-04-14 17:07:50 -04:00
James Goppert bdd6f8ee97 Merge pull request #4268 from jgoppert/sf0x_min_dist 
Set sf0x min dist to 30 cm, 0 cm is outside of spec for sf02.
 2016-04-14 15:03:17 -04:00
James Goppert f5988dd3ac Merge pull request #4267 from jgoppert/lpe_update 
Updated lpe for separate sensor source files, also made more quiet.
 2016-04-14 14:55:56 -04:00
James Goppert ba36183d7d Merge pull request #4266 from jgoppert/controllib_move 
Moved control library.
 2016-04-14 14:29:16 -04:00
James Goppert 831bce67bc Merge pull request #4265 from jgoppert/cmake_stack 
Modified cmake to use STACK_MAX and STACK_MAIN

Looked over the reported sitl failure with jenkins, but it shows all tests passed, and this is happening on all branches, so going to merge.
 2016-04-14 14:10:01 -04:00
James Goppert 362a8957c9 Merge pull request #4264 from jgoppert/dji_matrice 
Added config for dji matrice 100.
 2016-04-14 13:38:44 -04:00
James Goppert 2cf5fb8fb0 Merge pull request #4052 from PX4/revert_sonar_pub 
Revert "px4flow: disable distance data transmission from px4flow sensor"
 2016-03-21 16:08:16 -04:00
James Goppert 21e5c0a990 Merge pull request #4009 from jgoppert/lpe-gps-delay 
Enabled gps delay compensation for lpe based on x hist.
 2016-03-18 01:42:47 -04:00
James Goppert 078628e74f Merge pull request #3748 from jgoppert/lpe-improvements 
improved position based flow correction for lpe
 2016-03-08 04:06:56 -05:00
James Goppert f9a11b7a2f Merge pull request #3779 from jgoppert/matrix_update 
Updated matrix lib to get slice.
 2016-02-16 16:28:05 -05:00
James Goppert a2de2bb9cb Merge pull request #3777 from jgoppert/matrix-update 
Updated matrix lib.
 2016-02-16 11:35:41 -05:00
James Goppert cfd8173687 Merge pull request #3574 from PX4/matrix_update 
Matrix update.
 2016-01-24 03:16:01 -05:00
James Goppert c6093b0d22 Merge pull request #3153 from dronecrew/matrix_update 
Matrix update to fix LPE for nuttx
 2015-11-08 12:50:26 -05:00