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Code Pull Requests Activity
355 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

28 Commits

Author SHA1 Message Date
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough 10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Lorenz Meier 9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
EKF: improve reporting of filter status
 2016-04-20 11:44:02 +02:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough 6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
CarlOlsson 81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
mcsauder f9e3db0504 Move variable initializations from header file to constructor to allow C99 compliance. 2016-03-02 08:42:38 +01:00
Paul Riseborough cd0cac066a EKF: Calculate and publish horizontal and vertical position accuracy 
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
 2016-02-25 10:38:07 +11:00
Paul Riseborough a30830a7a9 EKF: Scale position observation noise with GPS quality 
This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
 2016-02-25 10:16:32 +11:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
mcsauder 72243c4a84 Resolve tab/space differences with upstream master. 2016-02-18 03:28:40 -07:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
bugobliterator 263c48d089 EKF: remove dependecies and allow ekf to be built as standalone shared lib 2016-02-17 17:33:18 -08:00
Paul Riseborough 9017e077f8 EKF: Publish the magnetic declination we wish to save for next startup 2016-02-14 22:01:53 +01:00
Roman ad978c642f estimator interface: 
added flag for in_air status of vehicle
 2016-02-14 20:43:22 +01:00
Roman ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Paul Riseborough 7de1d39ce4 EKF: Improve use of position and velocity observation noise parameters 
Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
 2016-02-03 18:15:38 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator 8200ef4d17 EKF: allocate and unallocate buffer more robustly 2016-01-31 00:12:16 -08:00
bugobliterator c6249a2825 EKF: change estimator base class name to estimation interface 2016-01-31 00:12:07 -08:00