Paul Riseborough
|
28fb5e364b
|
AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout
|
2014-02-15 05:48:23 +11:00 |
Paul Riseborough
|
f74cce8b4e
|
AP_NavEKF : Removed double to float conversions
|
2014-02-15 05:48:23 +11:00 |
Paul Riseborough
|
80f6dba694
|
AP_NavEKF: Improved control of fusion update intervals
|
2014-02-15 05:48:23 +11:00 |
Paul Riseborough
|
13b9daeff5
|
AP_NavEKF: Added constraints to Mavlink tuneable parameters
|
2014-02-15 05:48:23 +11:00 |
Paul Riseborough
|
b123e1bb16
|
AP_NavEKF: Improved in-air reset behaviour
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
1651980b9f
|
AP_NavEKF: Improved behaviour following loss and regaining of GPS
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
14eb63e7c9
|
AP_NavEKF: Made most tuning parameters Mavlink adustable
|
2014-02-15 05:48:22 +11:00 |
Andrew Tridgell
|
f800f5592d
|
AP_NavEKF: fixup parameter handling
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
f0f76920fa
|
AP_NavEKF : Mavlink tunable parameter - first attempt
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
128f71157d
|
AP_NavEKF: Fixed bug in pre GPS fix updates
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
357743ee2d
|
AP_NavEKF: Adjusted tuning parameters for plane use
|
2014-02-15 05:48:22 +11:00 |
Paul Riseborough
|
b4171853b1
|
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
|
2014-02-15 05:48:21 +11:00 |
Paul Riseborough
|
7fb60812c2
|
AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment
|
2014-02-15 05:48:21 +11:00 |
Paul Riseborough
|
9d375da550
|
AP_NavEKF: changed sqrt to sqrtf
|
2014-02-15 05:48:21 +11:00 |
Paul Riseborough
|
1f0b4b02d0
|
AP_NavEKF: fixed merge error that inverted static mode
|
2014-02-15 05:48:21 +11:00 |
Paul Riseborough
|
401e3aee43
|
AP_NavEKF : Changes to test harness to support accel bias states
|
2014-02-15 05:48:21 +11:00 |
Paul Riseborough
|
5219869389
|
AP_NavEKF : Added Z accel bias state and bootstrap initialisation method
|
2014-02-15 05:48:21 +11:00 |
Randy Mackay
|
301a04b74a
|
AP_NavEKF: update params for copter
|
2014-02-15 05:48:21 +11:00 |
Randy Mackay
|
7c73020015
|
AP_NavEKF: make params public so they can be tuned
|
2014-02-15 05:48:20 +11:00 |
Paul Riseborough
|
5c3dea28dc
|
AP_NavEKF : Enable staticMode to be set externally
|
2014-02-15 05:48:20 +11:00 |
Andrew Tridgell
|
77c4968342
|
AP_NavEKF: enable plotting in plot2.dat too
|
2014-02-15 05:48:20 +11:00 |
Andrew Tridgell
|
ab2a5a0672
|
AP_NavEKF: enable some debug
|
2014-02-15 05:48:20 +11:00 |
Paul Riseborough
|
0d4d287215
|
AP_NavEKF: comment and parameter tweaks for ground testing
|
2014-02-15 05:48:20 +11:00 |
Paul Riseborough
|
b6b0c2a489
|
AP_NavEKF: fixed bug in flag reset for hgt fusion
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
2f3b2a7111
|
AP_NavEKF: second attempt at higher rate baro fusion
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
cdbc5a3f35
|
AP_NavEKF: added position observations to static mode
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
da2c341914
|
Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed"
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
32cc427ff4
|
AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
2998aa1a6a
|
AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
f9aae1b90b
|
AP_NavEKF: fixed bug in variance constraint code
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
735c9684da
|
AP_NavEKF: removed error in constructor comments
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
8f999fe787
|
AP_NavEKF: Misc tuning adjustments for Plane testing
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
c87a5aaf34
|
AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
fec4fd463c
|
AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler
|
2014-02-15 05:48:19 +11:00 |
Paul Riseborough
|
619fffec3e
|
AP_NavEKF: added static mode for pre-arm and bench testing
|
2014-02-15 05:48:18 +11:00 |
Paul Riseborough
|
d0831c708d
|
AP_NavEKF : Added position and height reset public method
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
1b1f9e41ab
|
AP_NavEKF: improved playback initialisation
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
d9ef45234b
|
AP_NavEKF: useful plotting function
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
0816642436
|
AP_NavEKF: handle intertial nav
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
77c6e3206a
|
AP_NavEKF: some debug code
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
c33da7b3a2
|
AP_NavEKF: fixed log playback for copter
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
9b53db66cb
|
AP_NavEKF: tweak parameters based on randys copter log
|
2014-02-15 05:48:18 +11:00 |
Andrew Tridgell
|
4c42f53636
|
AP_NavEKF: use INS delta_time
|
2014-02-15 05:48:17 +11:00 |
Andrew Tridgell
|
5193ce90dc
|
AP_NavEKF: copter specific dtIMUAvg
|
2014-02-15 05:48:17 +11:00 |
Paul Riseborough
|
8b1d056e07
|
AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier
|
2014-02-15 05:48:16 +11:00 |
Paul Riseborough
|
7e026d41df
|
AP_NavEKF: explicitly zeroed covariance matrix priro to setting initial values
|
2014-02-15 05:48:16 +11:00 |
Paul Riseborough
|
6e6e3d923e
|
AP_NavEKF: improved covariance matrix numerical stability protection
|
2014-02-15 05:48:16 +11:00 |
Andrew Tridgell
|
66dbaa6657
|
AP_NavEKF: make health() API const
|
2014-02-15 05:48:16 +11:00 |
Andrew Tridgell
|
c493d980d8
|
AP_NavEKF: fixed check for airspeed sensor available
|
2014-02-15 05:48:15 +11:00 |
Andrew Tridgell
|
2dbfed19b8
|
AP_NavEKF: fixed airspeed estimate check
|
2014-02-15 05:48:15 +11:00 |
Paul Riseborough
|
e69eea3086
|
AP_NavEKF: Bug fix in covariance error correction
|
2014-02-15 05:48:15 +11:00 |
Paul Riseborough
|
43dc9bc055
|
AP_NavEKF: Added improved covariance matrix error fix
|
2014-02-15 05:48:15 +11:00 |
Paul Riseborough
|
4a56ea84b5
|
AP_NavEKF: Removed accel bias states
|
2014-02-15 05:48:15 +11:00 |
Andrew Tridgell
|
093481786e
|
AP_NavEKF: added SIM state to playback tool
|
2014-02-15 05:48:15 +11:00 |
Andrew Tridgell
|
5578552574
|
AP_NavEKF: fixed example for new API
|
2014-02-15 05:29:48 +11:00 |
Andrew Tridgell
|
2acf1e7ce5
|
AP_NavEKF: allow filter to run as single or double precision
useful for checking if there are numerical precision issues
|
2014-02-15 05:29:48 +11:00 |
Paul Riseborough
|
efd444b02e
|
AP_NavEKF: covariance protection (not enabled) and tuning changes for stability
|
2014-02-15 05:29:48 +11:00 |
Paul Riseborough
|
be9f276f45
|
AP_NavEKF: fixed compass offset sign error
|
2014-02-15 05:29:48 +11:00 |
Andrew Tridgell
|
ee774f69d0
|
AP_NavEKF: fixed some time handling bugs
use get_delta_time() and removed broken time wrap code
|
2014-02-15 05:29:48 +11:00 |
Andrew Tridgell
|
95c5aeaa43
|
AP_NavEKF: removed more unused variables
|
2014-02-15 05:29:47 +11:00 |
Andrew Tridgell
|
a53fc0636a
|
AP_NavEKF: zero more variables on filter re-init
|
2014-02-15 05:29:47 +11:00 |
Andrew Tridgell
|
91cbad52a1
|
AP_NavEKF: handle conversion of AHRS to handle altitude
fixed accuracy of position for cm level lat/lng
|
2014-02-15 05:29:47 +11:00 |
Andrew Tridgell
|
9ef71a9dec
|
AP_NavEKF: added healthy() API
|
2014-02-15 05:29:46 +11:00 |
Andrew Tridgell
|
bfd48a95b7
|
AP_NavEKF: fixed example build
|
2014-02-15 05:29:45 +11:00 |
Andrew Tridgell
|
ea0f9392ef
|
AP_NavEKF: don't report altitude yet, and removed debug code
|
2014-02-15 05:29:45 +11:00 |
Andrew Tridgell
|
33673c954d
|
AP_NavEKF: implemented getRotationBodyToNED()
|
2014-02-15 05:28:10 +11:00 |
Andrew Tridgell
|
2c86a490ed
|
AP_NavEKF: make it possible for NavEKF to be a AHRS member
ready for AHRS integration
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
6f31961fb5
|
AP_NavEKF: Added height rate adaptive wind speed process noise
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
de884dabab
|
AP_NavEKF: brought some tuning parameters out to header
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
3ee5ef852b
|
AP_NavEKF : improved On Ground check
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
8bc14d09b2
|
AP_NavEKF : remove onGround airspeed detect bug
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
a507fa7570
|
AP_NavEKF : remove debug code
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
2f95685bfc
|
Plane : EKF data logging fixes
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
6b9733c013
|
AP_NavEKF : Additional flash logging
|
2014-02-15 05:28:09 +11:00 |
Paul Riseborough
|
c28e89e4b7
|
AP_NavEKF: bug fixes for height fusion and covariance initialisation
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
aed6c79135
|
AP_NavEKF: Added gyro bias variance scale for on-ground
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
cb42e1e490
|
AP_NavEKF: Added public function to get NED position
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
2c567cd721
|
AP_NavEKF: Added tuning parameter for onGround yaw gyro variance
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
9515f6c745
|
AP_NavEKF: Cleaned up on-ground state and covariance update logic
|
2014-02-15 05:28:08 +11:00 |
Andrew Tridgell
|
9c5647eef3
|
AP_NavEKF: stop log for gdb friendly playback
|
2014-02-15 05:28:08 +11:00 |
Andrew Tridgell
|
4adf6000f3
|
AP_NavEKF: only build on fast CPUs
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
1647ba9bd0
|
AP_NavEKF: Reduced heading drift on ground
|
2014-02-15 05:28:08 +11:00 |
Paul Riseborough
|
63d8b1bb0b
|
AP_NavEKF: Scheduler Improvements
|
2014-02-15 05:28:07 +11:00 |
Andrew Tridgell
|
df42dd691c
|
AP_NavEKF: added perf counters on PX4
|
2014-02-15 05:28:07 +11:00 |
Andrew Tridgell
|
3d6cb9eade
|
AP_NavEKF: use float arrays when not doing bounds checking
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
|
2014-02-15 05:28:07 +11:00 |
Andrew Tridgell
|
010250a966
|
AP_NavEKF: use quaternion normalize and cleanup sqrt calls
|
2014-02-15 05:28:07 +11:00 |
Paul Riseborough
|
406fb31a57
|
AP_NavEKF: Load levelling scheduler - first attempt
|
2014-02-15 05:28:07 +11:00 |
Andrew Tridgell
|
163cfd839d
|
AP_NavEKF: enable airspeed and fix getLLH()
|
2014-02-15 05:28:07 +11:00 |
Andrew Tridgell
|
4771a4fc77
|
AP_NavEKF: use radians values from AHRS directly
|
2014-02-15 05:27:53 +11:00 |
Paul Riseborough
|
6b798d2821
|
AP_NavEKF: first working GPS + Mag fusion
|
2014-02-15 05:27:53 +11:00 |
Paul Riseborough
|
bccadb6e25
|
AP_NavEKF: first working GPS fusion
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
90cd04def3
|
AP_NavEKF: fixed build for non-Linux
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
0b71618f4f
|
AP_NavEKF: use vectorN to make indexes safe
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
e972acbc9f
|
AP_NavEKF: removed delay callback
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
8f16647a0c
|
AP_NavEKF: added write_flot valgrind functions
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
a8ddd51355
|
AP_NavEKF: added pause to gnuplot scripts
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
4298625daf
|
AP_NavEKF: added convenient plotting scripts
|
2014-02-15 05:27:53 +11:00 |
Paul Riseborough
|
fca1090694
|
AP_NavEKF: debug updates
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
95f51123d7
|
AP_NavEKF: added plot.dat output
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
050b0fb9f1
|
AP_NavEKF: fixed compass declination, baro cal and time shift
now runs much faster
|
2014-02-15 05:27:53 +11:00 |
Andrew Tridgell
|
776cedf368
|
AP_NavEKF: try running EKF on log data
|
2014-02-15 05:27:52 +11:00 |
Andrew Tridgell
|
ffce1f64cc
|
AP_NavEKF: added euler angle functions
|
2014-02-15 05:27:52 +11:00 |
Andrew Tridgell
|
977ad4bbf6
|
AP_NavEKF: added dataflash log reader
this gives log playback into HIL
|
2014-02-15 05:27:52 +11:00 |
Andrew Tridgell
|
f3dfde2025
|
AP_NavEKF: initial test sketch for NavEKF
|
2014-02-15 05:27:52 +11:00 |
Paul Riseborough
|
361bb5b18f
|
AP_NavEKF: Updated comments in header file
|
2014-02-15 05:27:52 +11:00 |
Paul Riseborough
|
00df068967
|
AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix
|
2014-02-15 05:27:52 +11:00 |
Andrew Tridgell
|
eb505eef91
|
AP_NavEKF: fixed build for APM environment
|
2014-02-15 05:27:52 +11:00 |
Paul Riseborough
|
0dd5463e77
|
AP_NavEKF : Changed file and variable names
|
2014-02-15 05:27:52 +11:00 |
Paul Riseborough
|
1e993d2ef5
|
AP_NavEKF: Added constructor for measurements
|
2014-02-15 05:27:52 +11:00 |
Paul Riseborough
|
4a7f81e50a
|
AP_NavEKF: Corrected height update timeout error
|
2014-02-15 05:27:51 +11:00 |
Paul Riseborough
|
0f3ebb8e31
|
AP_NavEKF: Updated measurement fusion control
|
2014-02-15 05:27:51 +11:00 |
Paul Riseborough
|
c557bd7df5
|
AP_NavEKF: Updated GPS input processing
|
2014-02-15 05:27:51 +11:00 |
Paul Riseborough
|
1d4b040c67
|
AP_NavEKF: Inertial Navigation Code - 24 State EKF
initial version converted from matlab
|
2014-02-15 05:27:51 +11:00 |