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225 Commits 514 Branches 136 Tags 234 MiB
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27 Commits

Author SHA1 Message Date
Paul Riseborough 32b03819ef EKF: Add function to calculate global position validity 2016-03-11 11:03:43 +11:00
Paul Riseborough 270451e17b EKF: Update height reset to support range finder height use 2016-03-11 11:03:43 +11:00
Paul Riseborough f7a53d69f2 EKF: Improve height reset function 
Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
 2016-03-02 08:39:07 +01:00
Paul Riseborough 78d6f6941c Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting 
EKF: Improve Position Accuracy Reporting
 2016-02-26 22:48:44 +11:00
Roman Bapst 9192ced7bb do not reset output attitude state after heading reset to avoid jumps in attitude 2016-02-25 18:20:29 +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 380db7ebef EKF: Reset angle error covariance after yaw and mag field reset 
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
 2016-02-25 08:16:42 +11:00
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 de02aebafd EKF: Reset covariance matrix when doing a yaw and magnetic field reset 
The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
 2016-02-14 22:01:53 +01:00
Paul Riseborough 83945581ed EKF: Add function to calculate the magnetic declination to use 2016-02-14 22:01:53 +01:00
Paul Riseborough 6140d4b21f EKF: Add function to reset yaw and magnetic field states 2016-02-14 22:01:53 +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 9d7340e187 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-14 09:49:26 +01:00
Paul Riseborough da1de2cc4d EKF: Correct for sensor noise and baro offset during alignment 2016-02-14 09:49:26 +01:00
CarlOlsson 1e766c7510 moved fuse function to ekf_helper.cpp 2016-02-12 15:54:32 +01:00
Paul Riseborough fff2bd50f6 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-10 15:16:05 +11:00
Paul Riseborough 40e174b81c EKF: Correct for sensor noise and baro offset during alignment 2016-02-10 10:25:27 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator 251996d387 ekf: move gps checks to Ekf library from estimator_base 2016-01-29 17:15:18 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00
Roman 8d0022ab1e enable estimator state and innovations data logging 2016-01-22 11:31:14 +01:00
nickolasrossi dfbbd36ff7 fix buffer overflow in constrain of wind velocity 2016-01-19 18:25:22 -08:00
Roman 2a88fc6cfd initialise vertical position correctly 2016-01-08 06:42:22 +01:00
Mark Charlebois b8837b4dc6 Added hexagon support 
std::to_string is not supported in the Hexagon complier

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-07 14:54:55 -08:00
Roman f153a7cb44 added ifdef guard 2015-12-19 09:40:32 +01:00
Roman 8de8b0eb76 prediction and vel pos heading fusion working 2015-12-09 17:47:52 +01:00
Roman b3491bcfc3 added file with ekf helper functions 2015-12-06 13:19:25 +01:00