priseborough
d701cfcb75
AP_NavEKF: Output terrain relative PosD when relying on Optical Flow
2014-12-06 18:16:51 +11:00
priseborough
0156d846f1
AP_NavEKF: Increase height at which nav gain reduction starts
...
Compensates for optical flow induced noise increase with height.
2014-12-06 18:16:51 +11:00
priseborough
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
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Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
2014-12-06 18:16:51 +11:00
priseborough
a905432ffe
AP_NavEKF: reduce height at which nav gain reduction starts
2014-12-06 18:16:51 +11:00
priseborough
5785272933
AP_NavEKF: Improve robustness to corrupted flow sensor data
2014-12-06 18:16:51 +11:00
priseborough
b1d44d4dde
AP_NavEKF: Add protection for negative height above ground
2014-12-06 18:16:50 +11:00
priseborough
963cc4d60a
Copter: Add velocity gain scaler to interfaces
...
Allows nav gain to be scaled to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
...
Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
11fb51ceba
AC_WPNav: Add nav velocity gain scaler to interfaces
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Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
9e7709fa09
Copter: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
5b8265ad6f
AP_AHRS: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
d994da0886
AP_NavEKF: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
9844dacf40
Copter: Add EKF ground speed limit to loiter speed control
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This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
priseborough
5fa0c59310
AC_WPNav: Add EKF ground speed limit to loiter speed control
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This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
priseborough
83775554ea
AP_AHRS: Publish EKF ground speed limit
2014-12-06 18:16:50 +11:00
priseborough
bc2255d6b1
AP_NavEKF: Improve comments in setInhibitGPS public method
2014-12-06 18:16:50 +11:00
priseborough
416eaf4633
AP_NavEKF: Apply single definition of using optical flow
2014-12-06 18:16:50 +11:00
priseborough
b56b68ce10
AP_NavEKF: Add public method reporting horizontal speed limit
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This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating
2014-12-06 18:16:50 +11:00
priseborough
c8fb376cc4
AP_NavEKF: Fix bug in bias rate of change limiting
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This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
2014-12-06 18:16:50 +11:00
priseborough
599e53f3f2
AP_NavEKF: Prevent flow scale factor updating on ground
2014-12-06 18:16:49 +11:00
priseborough
083e22966c
AP_NavEKF: Add public method to report available output data
2014-12-06 18:16:49 +11:00
priseborough
5532750a99
AP_AHRS: Add public method to inhibit GPS useage when using EKF
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This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
2014-12-06 18:16:49 +11:00
priseborough
e53d28854e
AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic
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This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
2014-12-06 18:16:49 +11:00
priseborough
8fb1d9cf8d
AP_NavEKF: Fix bug preventing opt flow scale factor estimation
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Also removes un-used variable declarations
2014-12-06 18:16:49 +11:00
priseborough
a78920761c
AP_NavEKF: Update comments in flow data interface
2014-12-06 18:16:49 +11:00
priseborough
063fb41748
AP_OpticalFlow: Add separate scale factors for X and Y axis.
...
The resolution is also increased to take advantage of the planned introduction of automated calibration methods
2014-12-06 18:16:49 +11:00
priseborough
52c7e56a4a
AP_NavEKF: Add parameter for max valid optical flow rate magnitude
2014-12-06 18:16:49 +11:00
priseborough
6f8971d80a
AP_NavEKF: Speed up flow sensor gyro bias correction
2014-12-06 18:16:49 +11:00
priseborough
d7ad45ebda
AP_NavEKF: Don't fuse flow measurements if too big
2014-12-06 18:16:49 +11:00
priseborough
2dff76394d
AC_PosControl: Add spike and noise filter to demanded angles
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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
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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
f23722ecee
Plane: Remove statement about flow driver rate in comment
2014-12-06 18:16:48 +11:00
priseborough
5f941655a8
AP_NavEKF: changes to support to 20Hz flow fusion rate
2014-12-06 18:16:48 +11:00
priseborough
715d64dce9
Copter: Check for new optical flow updates at 200Hz
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Supports use of higher flow read rates if required.
2014-12-06 18:16:48 +11:00
priseborough
ca53d5fb62
Plane: Increase rate at which optical flow sensor is checked
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The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
2014-12-06 18:16:48 +11:00
priseborough
468c83c074
Copter : Check for new optical flow readings every 10ms
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The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
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
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No longer required because bug in flow sensor has been fixed.
2014-12-06 18:16:48 +11:00
priseborough
898ad7432b
Plane : Only build optical flow with PX4 board
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Fixes SITL compile errors
2014-12-06 18:16:48 +11:00
priseborough
be54f2d6ee
Copter : Don't force pre-compiler inclusion of optical flow
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
2500f7e9c2
Plane : Add data logging for optical flow use with EKF
2014-12-06 18:16:48 +11:00
priseborough
2db9247117
Plane : Add logging and EKF read for updated flow sensor interface
2014-12-06 18:16:47 +11:00
priseborough
6d5fb33d1a
Copter : enable optical flow by default
2014-12-06 18:16:47 +11:00
priseborough
45c007d216
Copter : Correct comment on required optical flow update rate
2014-12-06 18:16:47 +11:00
