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1024 Commits

Author SHA1 Message Date
Paul Riseborough 063533afae EKF: Add method to enable the IMU bias states to be reset externally 2017-10-26 10:41:39 +11:00
Paul Riseborough cd2ca57ec2 Merge pull request #339 from PX4/ekfPosCtrlLimits-wip 
Ekf pos ctrl limits wip
 2017-10-23 06:57:23 +11:00
Daniel Agar 22a51c6afd PX4_ISFINITE -> ISFINITE 2017-10-22 20:37:40 +02:00
Daniel Agar 9e13a2cb21 tecs move initialization 2017-10-22 20:37:40 +02:00
Daniel Agar 31a8e047d7 tecs one line setters and group 2017-10-22 20:37:40 +02:00
Daniel Agar 4f2d571c89 tecs fix code style 2017-10-22 20:37:40 +02:00
Paul Riseborough 79995b2c15 Create total energy control system implementation 
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
 2017-10-22 20:37:40 +02:00
Daniel Agar 9eb860fabd travis-ci fix gcc and clang compilation jobs (#344) 
- allow the python testing to fail without failing the entire build
 2017-10-22 12:19:11 -04:00
Paul Riseborough e10ec59058 EKF: Use consistent test for navigation validity reporting 
This will enable controller to take advantage of non-inertial dead reckoning.
 2017-10-20 14:44:38 +11:00
Paul Riseborough 19074fdd9e EKF: Use consistent time limit for inertial dead reckoning test 2017-10-20 14:44:38 +11:00
Paul Riseborough 55a2dc94df EKF: handle air data fusion covariance reset consistently 
Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
 2017-10-20 14:44:37 +11:00
Paul Riseborough 0d32128701 EKF: Use dead-reckoning status to determine if air data should modify non-wind states 2017-10-20 14:44:37 +11:00
Paul Riseborough e4ffe199ed EKF: fix bug in sideslip fusion activation 2017-10-20 14:44:37 +11:00
Paul Riseborough 59f1c3e19e EKF: Update dead-reckoning definition 
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
 2017-10-20 14:44:37 +11:00
Paul Riseborough a2dcd5b9b6 EKF: Consolidate no aiding reset logic 2017-10-20 14:44:37 +11:00
Paul Riseborough 929c5c2b37 EKF: enable gps fusion flag to be false while fusing air data 2017-10-20 14:44:37 +11:00
Paul Riseborough 204a218ee6 EKF: Allow dead-reckoning using air data 2017-10-20 14:22:06 +11:00
ChristophTobler f5fd90533a fix gps and flow flag handling 
gps flag was not turning false if there was flow

only reset states if we were relying on that sensor only
 2017-10-20 14:22:06 +11:00
Paul Riseborough 9857fb9eb6 EKF: publish control limits for optical flow navigation 2017-10-20 14:22:06 +11:00
Paul Riseborough afa8844eb7 Merge pull request #341 from CarlOlsson/fix/fw_yaw_align2 
EKF: If aligning yaw for fw with low GPS velocity, use mag
 2017-10-20 14:05:52 +11:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
Paul Riseborough 61e0c04811 Merge pull request #338 from CarlOlsson/fix/fw_pos_reset 
EKF: Fix bug when resetting position and velocities for fw due to som…
 2017-10-18 07:02:34 +11:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
Paul Riseborough 410697cb0c Merge pull request #337 from CarlOlsson/fix/comment 
EKF: fixed comment
 2017-10-17 21:15:06 +11:00
CarlOlsson 8c83167857 EKF: fixed comment 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 11:41:55 +02:00
Paul Riseborough 32b795ee10 EKF: Add readme file to EKF documentation directory 2017-10-13 21:46:41 +11:00
Paul Riseborough 8dd4800a2c EKF: Add preliminary documentation for filter mathematics 2017-10-13 21:34:49 +11:00
Paul Riseborough a34bba87fc Merge pull request #322 from PX4/pr-ekfMagFusionMode 
EKF Add mag fusion mode for VTOL
 2017-10-13 07:27:54 +11:00
Paul Riseborough dbff89fbcb EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW 2017-10-12 19:54:35 +11:00
Paul Riseborough 6f7f05fdc0 EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place 2017-10-12 14:50:23 +11:00
Paul Riseborough e834522f62 EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic 2017-10-12 14:50:23 +11:00
Paul Riseborough 7b4c957ad4 ekf2: Add new mag fusion mode 
Adds a mode where mag fusion is only used update the field estimates
 2017-10-12 14:50:23 +11:00
Paul Riseborough 9c65968c3d Merge pull request #334 from PX4/pr-ekf_minor_flow_fix 
ekf: fix optical flow bugs
 2017-10-12 09:14:29 +11:00
Paul Riseborough 68bad48598 Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var 
EKF: added get_wind_velocity_var function
 2017-10-12 09:12:54 +11:00
Paul Riseborough 4db23b7b2e EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks 2017-10-12 08:26:04 +11:00
Paul Riseborough 1119a9b0ac EKF: Enable optical flow reversion to work if flow data is lost 
Also improve reporting.
 2017-10-12 08:02:54 +11:00
ChristophTobler cdf6e6cd36 EKF: use delta_time to avoid division by zero 2017-10-11 15:15:06 +02:00
Paul Riseborough d293c4231d EKF: Protect against divide by zero caused by invalid optical flow 2017-10-11 21:54:47 +11:00
Paul Riseborough ab9b8e1964 EKF: Prevent bad optical flow quality causing loss of aiding when on ground 2017-10-11 21:22:33 +11:00
ChristophTobler b7e589b98a EKF: only fuse optical flow if terrain is valid 2017-10-10 17:51:56 +02:00
ChristophTobler 81a64c0479 ekf: fix flow direction when on ground 2017-10-10 14:39:44 +02:00
ChristophTobler 6cb99ce8a8 ekf: add function to get in air status 2017-10-03 22:36:33 +02:00
CarlOlsson 8200e4b218 EKF: added get_wind_velocity_var function 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-02 14:47:56 +02:00
Paul Riseborough 705f93d0bf Merge pull request #327 from CarlOlsson/parameterize_max_rng_tilt 
EKF: Parameterize maximum angle for rng fusion
 2017-10-02 17:08:34 +11:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough 160e4d69c1 Merge pull request #323 from PX4/pr-ekfQuatMultOrder 
EKF: use hamiltonian convention for quaternion multiplication order
 2017-09-21 07:49:35 +10:00
Paul Riseborough 4411c7fd1c Merge pull request #325 from PX4/pr-ekfFlowGyroBias 
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias
 2017-09-14 18:47:46 +10:00
Paul Riseborough 1d3e8edc46 EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation 2017-09-14 18:34:11 +10:00
Paul Riseborough 3b3326e250 Merge pull request #326 from TSC21/fix_travis 
travis: install python3.5 for trusty in order to run pip3
 2017-09-14 18:32:31 +10:00
TSC21 571a0f7da7 travis: use pyenv in order to force pip3 version 2017-09-14 09:22:09 +01:00