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
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
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.
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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
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
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
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
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
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
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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
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
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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
92e9336fe1
AP_OpticalFlow : prevent divide by zero
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
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
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
