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22 Commits

Author SHA1 Message Date
Daniel Agar c5b2f59f57 PX4 style fixes (excluding EKF generated code) 2018-05-03 22:25:36 -04:00
Daniel Agar d9c8af54bd
EKF add print_status() with memory usage 2017-11-16 14:11:34 -05:00
Daniel Agar 75d1ed894c
EKF simplify RingBuffer allocation check 2017-11-16 13:09:17 -05:00
Paul Riseborough d785a19c0a EKF: delay final allocation of observation buffers until required 2017-11-16 19:47:04 +11:00
Daniel Agar ed9a394029
EKF RingBuffer avoid copying 2017-11-15 18:08:51 -05:00
ChristophTobler e388e59f32 EKF: use uint64_t cast for XeY to avoid float casting of variables 
The default type for XeY is float
 2017-11-08 11:40:26 +01:00
Daniel Agar 99ba1c3745
EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00
Paul Riseborough fed4a9bc5a EKF: add vertical position derivative output 
Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode.
Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor.
Provide separate accessor for vertical position derivative.
 2017-06-12 10:45:46 +10:00
Paul Riseborough 9ddcba3ed0 EKF: remove un-used variable 2017-01-15 10:02:31 +01:00
Lucas De Marchi 2240eb6b4f Move __STDC_FORMAT_MACROS to build system (#174) 
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.

Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
 2016-07-10 16:29:51 +02:00
Paul Riseborough 30917430e2 EKF: inline ring buffer functions used repeatedly 
These functions get called 30 times each per output prediction cycle
 2016-05-23 07:43:59 +10:00
Paul Riseborough 62c6d40f1f EKF: Add methods to ring buffer to access specific indices 2016-04-22 08:21:36 +10:00
Paul Riseborough a352c2f4e3 EKF: Fix posix build error 
Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.
 2016-04-05 18:57:21 -07:00
Paul Riseborough 430d4b1cf8 EKF: ensure data in buffers is zero at startup 2016-04-05 22:23:37 +02:00
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
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
Mark Charlebois 79bf35c4b3 Fixed printf of uint64_t 
Must use PRIu64 to prevent compiler errors.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-18 22:19:10 -08:00
Lorenz Meier 2a6e48332d EKF: Fix ringbuffer warnings 2015-12-21 11:26:50 +01:00
Roman b52e38eb9d fix 2015-12-07 22:41:11 +01:00
Roman cd5db8f494 enhance ringbuffer 2015-12-06 17:07:44 +01:00
Roman Bapst 144aa9c461 added base class for data storage 2015-12-05 11:08:06 +01:00