priseborough
b1d44d4dde
AP_NavEKF: Add protection for negative height above ground
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
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
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
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
84944fdd4e
AP_NAvEKF: Revert back to 10Hz fusion
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
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
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
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
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
9ea97c1a38
AP_NavEKF : Modify optical flow data interface
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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
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
744c72d40b
AP_NavEKF : Updates to range finder fusion
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
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The 2-state auxiliary filter is also renamed.
2014-12-06 18:16:45 +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
cd418c946c
AP_NavEKF : preliminary implementation for optical flow and range finder fusion
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Range finder measurements are not input to EKF at this time, however the method for fusing them is
implemented.
2014-12-06 18:16:44 +11:00
priseborough
13df6fb1c9
AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'
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This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated.
Unused variables have been removed
2014-12-06 18:16:43 +11:00
