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14,279 Commits 70 Branches 507 Tags 660 MiB
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14279 Commits

Author SHA1 Message Date
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 
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 
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 a72b6b179b Copter : Modify EKF optical flow data interface 2014-12-06 18:16:46 +11:00
priseborough 311206017c Copter : Update EKF optical flow data interface 
Makes it compatible with the new PX4Flow interface
 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 f047e35167 Plane : Enable optical flow by default if sensor is fitted 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 
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 9707989b9f Plane : Preliminary optical flow integration 2014-12-06 18:16:45 +11:00
priseborough 267ef48026 Copter : disable tilt correction of range finder data for use by EKF 
This is a temporary fix. We need to make separate range and altitude measurements available.
 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 27f9289391 Copter : Add range finder measurements 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
priseborough 635e593d55 Copter : 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 
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 bc74abcd00 DataFlash : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough 7b76fc29fb AP_AHRS : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough 34249ffa42 Copter : EKF optical flow fusion support preliminary changes 
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
 2014-12-06 18:16:44 +11:00
Randy Mackay 8b80e58861 Copter: enable OPTFLOW - do not merge to master 2014-12-06 18:16:44 +11:00
Randy Mackay 9d5c27ca83 PX4: start px4flow driver 2014-12-06 18:16:43 +11:00