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70 Commits

Author SHA1 Message Date
Nicolas de Palezieux
dd1d0adfef LPE : add support for precision landing measurement fusion 2018-01-15 10:27:23 +01:00
TSC21
ec1c37e1af modules: lpe: push sensor status update to object; prioritize lidar readings over sonar 2018-01-14 22:52:41 +01:00
TSC21
b512759336 modules: lpe: refactor fusion bitmask 2018-01-14 22:52:41 +01:00
stmoon
8b3ea27bb3 correct coding style 2018-01-14 12:55:47 +01:00
stmoon
28a5287a91 add FUSE_MOCAP, FUSE_LIDAR, and FUSE_SONAR to select more senors 2018-01-14 12:55:47 +01:00
Paul Riseborough
b5be990109 lpe: fix incorrect setting of local_position.z_global 2017-12-07 08:20:16 +00:00
TSC21
5a17f6b2d5 lpe: update _sensorTimeout init on constructor 2017-11-03 23:45:43 +01:00
TSC21
483f0d55e0 lpe: style fix 2017-11-03 23:45:43 +01:00
TSC21
051822eee1 lpe: remove unneeded subscriber to manual_control_setpoint 2017-11-03 23:45:43 +01:00
TSC21
e6efb5ec0a lpe: update _sensorTimeout and _sensorFault to handle support of more sensors 2017-11-03 23:45:43 +01:00
ChristophTobler
bfe28c1df3 lpe: check for distance sensor orientation 2017-09-25 08:52:21 +02:00
Daniel Agar
b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
Matthias Grob
5bea264a5f Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules 2017-09-21 17:44:57 +02:00
Paul Riseborough
a147179ad8 local_position_estimator: publish vertical position derivative 2017-06-19 09:09:52 +02:00
ChristophTobler
9b5de23553 add ref_timestamp (time when origin was set) to lpe 2017-06-12 09:39:41 +05:30
Julien Lecoeur
70ccfe80a7 Fuse flow only if it is activated in param LPE_FUSION 2017-06-04 04:20:46 +08:00
Daniel Agar
5d626bd940 clang-tidy remove redundant init 2017-06-02 19:35:18 -04:00
Daniel Agar
64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00
priseborough
e61e733d1d local_position_estimator: publish placeholder values for velocity accuracy 2017-05-03 08:37:14 +02:00
Kabir Mohammed
e63747ec2f lpe : changes to allow hybrid GPS-denied navigation 2017-02-15 21:48:33 +01:00
Kabir Mohammed
8eaddeee0a lpe : move to new vision topic 2017-02-15 21:48:33 +01:00
Daniel Agar
e927f3e040 clang-tidy modernize-use-nullptr 2017-02-01 22:15:50 -05:00
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
Lorenz Meier
54ab5cde2f Fix unused variable in LPE 2016-12-21 22:28:42 +01:00
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
Lorenz Meier
526fb8f515 Remove q_valid flag from attitude topic 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
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
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
Miguel Arroyo
f999fbe440 Publishes LPE GPS epv and eph as estimator status. (#5413) 
* Publishes LPE GPS epv and eph as estimator status.

* Adds timestamp
 2016-09-03 22:00:51 +02:00
James Goppert
6b08e8ce1f Improvements to lpe for flow and gps. (#5401) 2016-08-27 23:50:24 -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
Beat Küng
e2afb0be6b px4_log.h: remove hrt_absolute_time() declaration (it does not belong here) 2016-08-24 21:24:35 +02:00
Lorenz Meier
3cc64b3b7b LPE: Remove unused var 2016-08-07 10:39:31 +02:00
Lorenz Meier
08f5ece306 Remove on arming reset, be less verbose in normal conditions output 2016-08-05 06:51:54 -04:00
Eike
cfa203ca22 Remove LPOS.Z reset (#5228) 2016-08-04 11:32:26 +02:00
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
Beat Küng
9c73eae941 sensor_combined: replace accel & gyro integral with value, use float for dt 
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
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
Beat Küng
b4ecc5a8d9 sensor_combined cleanup: remove many unneeded fields 
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
James Goppert
09ddc24801 Added agl smoothing to LPE. (#4976) 2016-07-05 16:54:08 -04:00