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198 Commits

Author SHA1 Message Date
Paul Riseborough
d83b382e59 AP_NavEKF : Fix variance constraint bug 
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
 2014-02-27 08:12:03 +11:00
Andrew Tridgell
8b59e564ba AP_NavEKF: improved replay timing 2014-02-27 08:11:04 +11:00
Andrew Tridgell
66f238c0da AP_NavEKF: support 400Hz replay from 50Hz logs 2014-02-26 19:34:01 +11:00
Andrew Tridgell
63874dfffd AP_NavEKF: set fix type in GPS replay 2014-02-25 21:10:49 +11:00
Andrew Tridgell
09cce5d24e AP_NavEKF: fixed replay with current copter logs 2014-02-25 20:56:53 +11:00
Paul Riseborough
72a91ccbca AP_NavEKF : Prevents aliasing triggering innovation consistency check failures 2014-02-25 15:55:44 +11:00
Paul Riseborough
5db9a87d31 AP_NavEKF : fixed bug in velocity rate of change filter 
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
 2014-02-23 19:50:37 +11:00
Paul Riseborough
01c84c3f47 AP_NavEKF : fixed bug in height limit range 2014-02-23 19:50:36 +11:00
Paul Riseborough
36d619ec3a AP_NavEKF : Changed default IMU bias process noise to use smallest value 2014-02-23 19:50:36 +11:00
Paul Riseborough
89e0b48320 AP_NavEKF : Bug fix for height drift due to timer wrap-around 2014-02-23 19:50:35 +11:00
Paul Riseborough
939a32a7bb AP_NavEKF : Improved stability of Z accel bias 2014-02-23 19:50:34 +11:00
Andrew Tridgell
ffbd655ba0 AP_NavEKF: support dual sensors in log replay, and fix flight altitude 2014-02-23 08:17:55 +11:00
Andrew Tridgell
707cc2b532 AP_NavEKF: allow log filename to be specified in replay 2014-02-23 08:17:01 +11:00
Andrew Tridgell
4e56196655 AP_NavEKF: allow states to be accessed using names as well as a Vector22 2014-02-21 20:24:47 +11:00
Andrew Tridgell
20b0444c15 AP_NavEKF: remove sleep on init of EKF 
this prevents HIL from locking up, and also prevents a possible 1s
delay in flight on EKF init
 2014-02-19 22:04:12 +11:00
Andrew Tridgell
c9d0c1face AP_NavEKF: use ahrs->get_armed() for static mode demanded 2014-02-19 10:52:57 +11:00
Andrew Tridgell
536160a3fb AP_NavEKF: use AHRS get_correct_centrifugal() 2014-02-19 10:28:45 +11:00
Andrew Tridgell
869e41fd03 AP_NavEKF: fixed detection of airspeed sensor 
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
 2014-02-19 09:22:45 +11:00
Paul Riseborough
1ade39977a AP_NavEKF : covariance prediction cleanup 2014-02-19 09:22:45 +11:00
Paul Riseborough
8daca145d0 AP_NavEKF : useAirspeed set automatically 2014-02-19 09:22:45 +11:00
Paul Riseborough
6fbada26d3 AP_NavEKF : Improvements to staticMode robustness 2014-02-19 09:22:45 +11:00
Andrew Tridgell
5bf170c440 AP_NavEKF: fixed log replay code 
also added BARO and ARSP messages
 2014-02-18 09:25:07 +11:00
Paul Riseborough
7a82746fcc AP_NavEKF : fixed bug in pos and vel reset when in static mode 2014-02-16 22:35:19 +11:00
Paul Riseborough
275ef86f86 AP_NavEKF : Position and Velocity reset bugfix 2014-02-16 21:05:37 +11:00
Paul Riseborough
b22dc706b2 AP_NavEKF : staticMode bugfix and robustness improvements 2014-02-16 21:04:55 +11:00
Paul Riseborough
2926602718 AP_NavEKF : Cleaned up InitialiseFilterDynamic 2014-02-16 21:04:51 +11:00
Paul Riseborough
404fbafe26 AP_NavEKF : Changed timout behaviour to only reset PosVel states 2014-02-16 21:04:46 +11:00
Andrew Tridgell
24e1070eb2 AP_NavEKF: initialise quaternion from rotation matrix 2014-02-15 12:21:11 +11:00
Andrew Tridgell
c6b24c521b AP_NavEKF: force healthy false when initialising 
this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-02-15 09:25:40 +11:00
Andrew Tridgell
8201f9c928 AP_NavEKF: don't build example 2014-02-15 06:40:06 +11:00
Andrew Tridgell
a7a44a9a5c AP_NavEKF: fixed init order warning 2014-02-15 05:48:24 +11:00
Paul Riseborough
b56c8211c9 AP_NavEKF: Reduced number of Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough
c20fac1269 AP_NavEKF: Updated comments for private functions 2014-02-15 05:48:23 +11:00
Paul Riseborough
deb64c4cbd AP_NavEKF: Pos Vel reset after long GPS timeout 2014-02-15 05:48:23 +11:00
Paul Riseborough
7ac0172db1 AP_NavEKF: removed repeated intialisation 2014-02-15 05:48:23 +11:00
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