7b1b255158
EKF2 set zero unused estimator_status fields
2018-01-12 23:19:46 +01:00
73348b6c4e
EKF2: Update param metadata
2018-01-08 09:27:22 +01:00
ca0267b4e9
EKF: Add required flags to parameters
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This marks the learned bias parameters as volatile (as they change in flight without external configuration) and marks them as system level, which should hide them by default from the UI
2018-01-08 09:27:22 +01:00
84d7eb2900
ekf2: added beta test ratio to estimator_status
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2018-01-02 22:36:42 +01:00
925c65b4d5
ekf2: add beta innovation gate to parameters
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-12-21 04:02:10 +08:00
4bd7d62b5c
ekf2: update AID_MASK bitmask comment for QGC
2017-12-20 05:22:11 +08:00
324c5151e7
ekf2: use local scope for control mask variable
2017-12-08 07:43:13 +00:00
b812f95a77
ekf2: Adjust pre-flight check level
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Reduce max yaw error when not using global frame aiding data to prevent large yaw yaw changes after takeoff.
2017-12-08 07:43:13 +00:00
ded9ca13e4
ekf2: Reduce sensitivity of preflight yaw check when not doing absolute aiding
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When the EKF is not fusing in observations from the NE global reference frame, the tolerance to yaw errors is much higher. This changes will prevent false triggering of the preflight fail check when operating indoors without GPS where mag field errors can be high.
2017-12-08 07:43:13 +00:00
fc80be0917
ekf2: improve preflight checks and publish status
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Separate the vertical and horizontal checks for use by local position validity reporting
Add checking of yaw using a decaying envelope filter to the horizontal checks.
Publish the check result to estimator_status topic.
2017-12-04 09:09:54 +00:00
d1a4c2dcd0
cmake handle git submodule depdencies
2017-11-23 00:22:45 -05:00
44a71ad6c9
ekf2: Update parameter descriptions ( #8292 )
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Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
2017-11-15 09:19:08 -05:00
a410893080
ecl: Update ekf2 to version that addresses known vulnerabilities
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See:
https://github.com/PX4/ecl/pull/350
https://github.com/PX4/ecl/pull/354
Note the amount of stack allocation has had to be increased to accomodate pr350
2017-11-13 22:50:12 +01:00
0a58bd309c
EKF2 always publish status message ( #8234 )
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* EKF2 always publish status message
* EKF2 fix comment typo
* EKF2 time slip use signed int and consolidate
* EKF2 minor readability improvements
2017-11-08 07:55:50 +11:00
589d58ce87
ekf2: Fix bug preventing first IMU failover bias reset
2017-10-30 08:21:09 +01:00
0c9e07c95a
ekf2: repeat IMU bias reset until successful
2017-10-30 08:21:09 +01:00
e5ead354f0
EKF2 reset IMU bias if the accel or gyro changes
2017-10-29 16:24:31 +01:00
3fc7aba178
TECS: Use version in ECL library
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This change updates a number of interfaces to use the new TECS implementation from the ECL library.
2017-10-22 21:56:06 +02:00
d7c8d53489
use get() for BlockParam
2017-10-18 11:08:58 +02:00
40b8d8bd48
use distance to ground if on ground an distance is out of range
2017-10-18 11:08:58 +02:00
ed950d70ce
ekf2: Add missing documentation
2017-10-09 08:58:01 +02:00
dbc3a13236
ekf2: remove unused parameter
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The logging of replay data is now controlled by the logging module
2017-10-09 08:58:01 +02:00
6cfee65060
ekf2: Add parameters to tune accelerometer bias learning
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These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
2017-10-09 08:58:01 +02:00
66277d0c02
ekf2: Added @reboot_required to parameters
2017-10-09 08:58:01 +02:00
ec61ae0003
ekf2: add some comments
2017-10-04 13:11:11 +02:00
f9c9890a49
EKF2: Add minimal stack for M7 targets
2017-09-29 10:13:51 -04:00
ee82e80517
ekf2: subscribe to multi dist instances and check orientation
2017-09-25 08:52:21 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
5bea264a5f
Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules
2017-09-21 17:44:57 +02:00
3498fe0c6f
delete sdlog2 EKF2 replay ( #7982 )
2017-09-19 10:20:41 -04:00
545ce9ae24
modules remove extra semicolons
2017-09-16 21:29:52 +01:00
9b5fe8c476
ignore -Wsign-compare per module
2017-09-07 10:27:36 +02:00
dc18112697
EKF2 limit map reprojection ( #7900 )
2017-09-05 12:56:53 -04:00
b70b8288b9
px4_includes cleanup incomplete list
2017-08-20 20:42:42 +02:00
cae4694d6a
EKF: Use estimator scheduling order
2017-08-02 21:18:35 +02:00
08059caf89
EKF: Enable compensation for static pressure positional error ( #7264 )
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* msg: add reporting of multi rotor drag fusion
* ekf2: add reporting of multi rotor drag fusion
* ekf2: Add parameters required to tune multi-rotor wind estimation
* ekf2: Add correction for static pressure position error
* ekf2: Use correct air density for position error corrections
* ekf2: fix parameter documentation error
* ekf2: Add separate forward and reverse position error correction factors
* ekf2: Fix formatting and parameter descriptions
* ekf2: Improve comments
2017-08-01 07:29:08 +10:00
02ea10ed99
range finder: reject if min/max value
2017-07-31 17:33:02 +02:00
cf87096b05
EKF2 don't poll parameter_update
2017-07-29 09:15:52 +02:00
5324f30cb6
ekf2: Let the EKF know if the vehicle is operating as a fixed wing type. ( #7667 )
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Setting this enables the EKF to use the GPS velocity to recover from bad compass yaw at launch.
2017-07-29 07:18:58 +10:00
bc951f6f15
add constraint to ground distance to avoid values below rng_gnd_clearance ( #7662 )
2017-07-22 07:49:00 +10:00
f93be992ce
ekf2: Update documentation for compatibility with Doxygen ( #7657 )
2017-07-20 22:05:29 +10:00
03e11c4d18
update ecl and add param for innovation consistency checks for range aid fusion ( #7585 )
2017-07-19 18:25:12 +10:00
d419537a72
ekf2_main: initialize _mag_time_sum_ms & _balt_time_sum_ms
2017-07-18 12:54:28 +02:00
d92377a6e6
ekf2: remove unused function ( #7529 )
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* ekf2: remove unused function
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
* ekf2: removed unused variable _mag_decl_saved
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-07-17 17:24:23 +10:00
0a22a9c47c
change gyro & accel dt from float to uint64. This has the benefit of
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calculating the estimator timeslip correctly.
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com >
2017-07-16 14:08:37 +02:00
a63699060d
ekf2: use ModuleBase & add module documentation
2017-07-14 11:57:11 +02:00
3bdd0e95dd
EKF2: Show time slip on console
2017-07-09 21:58:41 +02:00
91144f502f
EKF2 build fix
2017-07-07 08:29:10 +02:00
63cbce6bd3
ekf2: Increase RAM to remove stack space warnings
2017-07-06 22:20:48 +02:00
ee75f0eb0e
ekf2: Use updated quaternion type def
2017-07-06 22:20:48 +02:00
Daniel Agar