Daniel Agar
fe5a337c99
l1 initialize everything
2016-04-25 14:39:11 -04:00
Paul Riseborough
42635903cd
Merge pull request #102 from priseborough/pr-ekf2HeightReset
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EKF: Improve height reset behaviour
2016-04-23 10:04:13 +10:00
Paul Riseborough
4fcbfb5d42
EKF: correct error in comment
2016-04-23 07:55:25 +10:00
Paul Riseborough
13814681d7
Merge pull request #104 from georgehines/matlab-log-import
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Matlab log import
2016-04-23 07:50:07 +10:00
Paul Riseborough
3e81b86280
EKF: improve height reset logic
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Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
2016-04-22 10:50:53 +10:00
Paul Riseborough
874558d194
EKF: improve detection of bad vert accel data
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Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
2016-04-22 09:24:04 +10:00
Paul Riseborough
469a7d1711
EKF: rework height reset
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calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
2016-04-22 08:43:56 +10:00
Paul Riseborough
e3365525c2
EKF: rework height reset logic
2016-04-22 08:39:24 +10:00
Paul Riseborough
421703c267
EKF: rework initialisation of height state and offsets
2016-04-22 08:38:41 +10:00
Paul Riseborough
a7417657c3
EKF: ensure fusion timeout counters are reset when required
2016-04-22 08:33:11 +10:00
Paul Riseborough
10bf05e9a6
EKF: publish the vertical position offset
2016-04-22 08:30:46 +10:00
Paul Riseborough
0de15b1b20
EKF: Add variables to monitor vertical position and height offset
2016-04-22 08:28:56 +10:00
Paul Riseborough
62c6d40f1f
EKF: Add methods to ring buffer to access specific indices
2016-04-22 08:21:36 +10:00
George Hines
59df1a3552
rename log GUI consistent with its assumptions
2016-04-21 10:58:28 -07:00
George Hines
62bdcf3e9b
supports APM dataflash logs
2016-04-21 10:54:37 -07:00
Paul Riseborough
b295f9050c
EKF: ensure GPS check status is correctly initialised
2016-04-20 21:53:15 +10:00
Lorenz Meier
9487eac505
Merge pull request #98 from priseborough/pr-ekf2StatusReporting
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EKF: improve reporting of filter status
2016-04-20 11:44:02 +02:00
Roman Bapst
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
2016-04-19 12:47:57 +02:00
Roman Bapst
00c8821006
disable airspeed fusion for now. Needs more testing and implementation of side slip fusion
2016-04-19 11:18:45 +02:00
Paul Riseborough
2fa8a11a29
EKF: replace unnecessary memcopy
2016-04-19 19:10:41 +10:00
Roman Bapst
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
2016-04-19 09:53:31 +02:00
Paul Riseborough
82920da232
EKF: strengthen checking of local position status
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provides immediate status reporting when dropping out of optical flow mode
2016-04-19 17:38:22 +10:00
Paul Riseborough
31bf342fc1
EKF: publish GPS check status
2016-04-19 17:38:22 +10:00
Paul Riseborough
6fa13c7806
EKF: publish control mode status
2016-04-19 17:37:27 +10:00
Roman Bapst
60abf07bee
added function to return accelerometer bias
2016-04-18 17:52:16 +02:00
Roman Bapst
f32303de69
added function to return accelerometer bias
2016-04-18 17:00:17 +02:00
Lorenz Meier
3455931617
EKF init: Fix initialization statement
2016-04-17 19:29:23 +02:00
Lorenz Meier
e1ce948768
Merge pull request #97 from dagar/cmake_update
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cmake STACK -> STACK_MAIN
2016-04-17 15:58:52 +02:00
Daniel Agar
861c13f1fe
cmake STACK -> STACK_MAIN
2016-04-16 21:46:50 -04:00
Paul Riseborough
55db3d8725
Merge pull request #94 from priseborough/pr-sensorPosComp
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Add compensation for EKF sensor position offsets
2016-04-14 11:45:24 +10:00
Paul Riseborough
ea38aa130f
EKF: update default time delay parameter values
2016-04-14 08:53:59 +10:00
Paul Riseborough
8c55e36ca9
EKF: use common value for gravity
2016-04-12 11:14:31 +10:00
Paul Riseborough
163c08a3ac
EKF: Improve output observer documentation
2016-04-12 11:14:31 +10:00
Paul Riseborough
2dcc6e2053
EKF: Improve accuracy of state prediction
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Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
2016-04-12 11:14:31 +10:00
Paul Riseborough
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
2016-04-12 11:14:31 +10:00
Paul Riseborough
e10093854a
EKF: correct outputs for IMU offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
b46053415f
EKF: Compensate optical flow data for sensor position offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
48b105b748
EKF: correct range finder data for sensor position offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
e89dbb9f63
EKF: correct GPS data for antenna position offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
3580940e10
EKF: Add sensor position offset parameters
2016-04-12 11:14:31 +10:00
Paul Riseborough
64e95910c4
Merge pull request #92 from priseborough/pr-ekf2HgtResetFix
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EKF: Fix vulnerability in height reset
2016-04-12 11:09:06 +10:00
Paul Riseborough
006b6b58e4
EKF: fix bug in status print statement
2016-04-12 10:38:50 +10:00
Paul Riseborough
74078cde94
EKF: reset state variance when performing a height reset
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Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
2016-04-11 19:40:27 +10:00
Paul Riseborough
f4f108d57d
EKF: Reset vertical velocity when performing a height reset
2016-04-11 19:25:24 +10:00
Paul Riseborough
61b919754d
Merge pull request #90 from georgehines/matlab-log-import
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version/toolbox compatibility
2016-04-11 05:23:50 +10:00
George Hines
941d3bca0a
changes some graphics arguments for version compatibility, adds a viewer example to the usage samples script
2016-04-07 16:39:32 -07:00
Paul Riseborough
a919088b6a
Merge pull request #89 from georgehines/matlab-log-import
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Matlab log import
2016-04-07 15:44:04 -07:00
George Hines
684b41494e
adds estimator log viewer UI
2016-04-07 15:13:19 -07:00
George Hines
3773d5a00d
removes accidentally commited px4log test file
2016-04-07 11:59:54 -07:00
George Hines
eb41d25ff6
reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly
2016-04-07 11:58:51 -07:00
