priseborough
2dff76394d
AC_PosControl: Add spike and noise filter to demanded angles
...
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.
Signed-off-by: priseborough <p_riseborough@live.com.au>
2014-12-06 18:16:49 +11:00
priseborough
84944fdd4e
AP_NAvEKF: Revert back to 10Hz fusion
2014-12-06 18:16:49 +11:00
priseborough
f4f0dfc45c
AP_OpticalFlow: efficiency improvements to data processing
2014-12-06 18:16:49 +11:00
priseborough
1f78a73cdb
AP_NavEKF: Make flow measurement delay vehicle specific
...
This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
2014-12-06 18:16:49 +11:00
priseborough
5f941655a8
AP_NavEKF: changes to support to 20Hz flow fusion rate
2014-12-06 18:16:48 +11:00
priseborough
0bf991eef9
AP_NavEKF: Fix bug in optical flow fusion smoothing
2014-12-06 18:16:48 +11:00
priseborough
7d27a22f77
DataFlash : Fix EKF optical flow logging bug
2014-12-06 18:16:48 +11:00
priseborough
7ec8dfebcf
AP_OpticalFlow : Remove gyro scale factor user adjustable parameter
...
No longer required because bug in flow sensor has been fixed.
2014-12-06 18:16:48 +11:00
priseborough
2baa1e56ed
Dataflash : Fix bug in EKF opt flow logging
2014-12-06 18:16:48 +11:00
priseborough
df59f3311a
AP_OpticalFlow : Add gyro scale factor correction parameter
2014-12-06 18:16:48 +11:00
priseborough
eec49ce1dd
AP_OpticalFlow : Add parameter for flow rate scale factor correction
2014-12-06 18:16:48 +11:00
priseborough
839b814d12
AP_NavEKF : Inhibit flow and range fusion in static mode
2014-12-06 18:16:47 +11:00
priseborough
9b9934ac06
AP_NavEKF : fix velocity timeout bug during optical flow operation
2014-12-06 18:16:47 +11:00
priseborough
cc8e6dbfad
DataFlash : Add EKF additional fault and timeout logging
2014-12-06 18:16:47 +11:00
priseborough
517026980b
AP_NavEKF : Add fault and timeout logging
2014-12-06 18:16:47 +11:00
priseborough
f640ec30ff
AP_NavEKF : Reset held velocity on arming
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This held velocity is used to constrain the drift in the optical flow solution before the vehicle is high enough for the optical flow sensor to work.
2014-12-06 18:16:47 +11:00
priseborough
4616721b0d
DataFlash : Update EKF debug logging
2014-12-06 18:16:47 +11:00
priseborough
06c19a3a4d
AP_NavEKF : Update optical flow debug logging
2014-12-06 18:16:47 +11:00
priseborough
1791dec622
AP_NavEKF : Fix velocity hold mode
2014-12-06 18:16:47 +11:00
priseborough
84421e0a35
AP_NavEKF : Adjust initial flow scale factor and limits
2014-12-06 18:16:47 +11:00
priseborough
573633daf7
AP_NavEKF : Fix incorrect use of flow sensor time-stamp
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flow sensor time stamp is now issued by the flow sensor and is on a different time-base
2014-12-06 18:16:47 +11:00
priseborough
92e9336fe1
AP_OpticalFlow : prevent divide by zero
2014-12-06 18:16:47 +11:00
priseborough
9ea97c1a38
AP_NavEKF : Modify optical flow data interface
...
Sign conventions have changed
2014-12-06 18:16:46 +11:00
priseborough
8faeb190de
AP_NavEKF : Rework logic to cope with bad flow data
2014-12-06 18:16:46 +11:00
priseborough
44e1695d5a
AP_AHRS : Enable EKF start without GPS
2014-12-06 18:16:46 +11:00
priseborough
41f0231cfb
AP_NavEKF : improve logic dealing with lack of flow or range data
2014-12-06 18:16:46 +11:00
priseborough
9ba46ad795
AP_NavEKF : Improve handling of flow sensor failure
2014-12-06 18:16:46 +11:00
priseborough
2ee1c549be
AP_NavEKF : improve criteria used to inhibit scale factor estimation
2014-12-06 18:16:46 +11:00
priseborough
e09ff84218
AP_NavEKF : Don't estimate focal length scale factor without reliable velocity
2014-12-06 18:16:46 +11:00
priseborough
4c92a5f23f
AP_NavEKF : Use GPS velocity if PX4Flow sensor fails
2014-12-06 18:16:46 +11:00
priseborough
283811edcb
AP_NavEKF : stop velocity change when flow measurements drop out
2014-12-06 18:16:46 +11:00
priseborough
9132fcfe43
AP_NavEKF : Change mag fusion to use corrected compass values
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This enables compass units to be switched in-flight
2014-12-06 18:16:46 +11:00
priseborough
c3be486c29
AP_NavEKF : Enable inhibiting of GPS measurements
2014-12-06 18:16:45 +11:00
priseborough
79698f7742
AP_NavEKF : improvements to range finder fusion
2014-12-06 18:16:45 +11:00
priseborough
1222559da0
AP_NavEKF : Fix bug affecting sonar fusion
2014-12-06 18:16:45 +11:00
priseborough
117bd2a998
AP_NavEKF : Add time based noise to terrain offset state
2014-12-06 18:16:45 +11:00
priseborough
b1d3d5d9a3
AP_NavEKF : Don't update focal length scale factor at low speeds
2014-12-06 18:16:45 +11:00
priseborough
8dd1081f54
AP_NavEKF : Add range measurement to EKF debug message
2014-12-06 18:16:45 +11:00
priseborough
f358d5e20f
DataFlash : Add range measurement to EKF debug message
2014-12-06 18:16:45 +11:00
priseborough
744c72d40b
AP_NavEKF : Updates to range finder fusion
2014-12-06 18:16:45 +11:00
priseborough
a07e402ebf
DataFlash : Update names in EKF optical flow logging
2014-12-06 18:16:45 +11:00
priseborough
a20729f60f
AP_NavEKF : Update names in optical flow debug logging
2014-12-06 18:16:45 +11:00
priseborough
235b3bebda
AP_NavEKF : Add range finder health and enable range finder fusion
...
The 2-state auxiliary filter is also renamed.
2014-12-06 18:16:45 +11:00
priseborough
a4984a1e76
AP_AHRS : Add range finder health status to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
988de2a898
AP_NavEKF : Add smoothing to optical flow fusion
2014-12-06 18:16:44 +11:00
priseborough
70c779dbc2
AP_NavEKF : Optical flow numerical optimisations
2014-12-06 18:16:44 +11:00
priseborough
2a1420171a
AP_NavEKF : reduce minimum accepted flow quality
2014-12-06 18:16:44 +11:00
priseborough
3fbedc9f98
AP_NAvEKF : update comments
2014-12-06 18:16:44 +11:00
priseborough
81b09c9361
AP_NavEKF : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
12b012a00e
AP_AHRS : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
