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309 Commits 514 Branches 136 Tags 234 MiB
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309 Commits

Author SHA1 Message Date
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
Lorenz Meier 3455931617 EKF init: Fix initialization statement 2016-04-17 19:29:23 +02:00
Lorenz Meier e1ce948768 Merge pull request #97 from dagar/cmake_update 
cmake STACK -> STACK_MAIN
 2016-04-17 15:58:52 +02:00
Daniel Agar 861c13f1fe cmake STACK -> STACK_MAIN 2016-04-16 21:46:50 -04:00
Paul Riseborough 55db3d8725 Merge pull request #94 from priseborough/pr-sensorPosComp 
Add compensation for EKF sensor position offsets
 2016-04-14 11:45:24 +10:00
Paul Riseborough ea38aa130f EKF: update default time delay parameter values 2016-04-14 08:53:59 +10:00
Paul Riseborough 8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough 163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough 2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough 5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 48b105b748 EKF: correct range finder data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 3580940e10 EKF: Add sensor position offset parameters 2016-04-12 11:14:31 +10:00
Paul Riseborough 64e95910c4 Merge pull request #92 from priseborough/pr-ekf2HgtResetFix 
EKF: Fix vulnerability in height reset
 2016-04-12 11:09:06 +10:00
Paul Riseborough 006b6b58e4 EKF: fix bug in status print statement 2016-04-12 10:38:50 +10:00
Paul Riseborough 74078cde94 EKF: reset state variance when performing a height reset 
Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
 2016-04-11 19:40:27 +10:00
Paul Riseborough f4f108d57d EKF: Reset vertical velocity when performing a height reset 2016-04-11 19:25:24 +10:00
Paul Riseborough 61b919754d Merge pull request #90 from georgehines/matlab-log-import 
version/toolbox compatibility
 2016-04-11 05:23:50 +10:00
George Hines 941d3bca0a changes some graphics arguments for version compatibility, adds a viewer example to the usage samples script 2016-04-07 16:39:32 -07:00
Paul Riseborough a919088b6a Merge pull request #89 from georgehines/matlab-log-import 
Matlab log import
 2016-04-07 15:44:04 -07:00
George Hines 684b41494e adds estimator log viewer UI 2016-04-07 15:13:19 -07:00
George Hines 3773d5a00d removes accidentally commited px4log test file 2016-04-07 11:59:54 -07:00
George Hines eb41d25ff6 reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly 2016-04-07 11:58:51 -07:00
George Hines 2ad21bc8c7 adds function header comments and method attribution 2016-04-07 07:40:40 -07:00
George Hines f6413a1924 renames test script for clarity 2016-04-07 07:32:53 -07:00
George Hines 93fde19c25 changes some cell notation for speed 2016-04-07 07:22:21 -07:00
George Hines 0e3a6e214c completed low-overhead import script, added usage examples 2016-04-07 07:18:59 -07:00
George Hines 8c8653a1a2 initial commit of matlab px4 log importer 2016-04-06 17:12:40 -07:00
Lorenz Meier f86ef34782 EKF: Fix error message which lied 2016-04-05 19:06:35 -07:00
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
Lorenz Meier 6b3ad03419 Merge pull request #86 from CarlOlsson/small_airspeed_fix 
Small airspeed fix
 2016-04-05 16:38:37 -07:00
Roman Bapst f35e78643c Merge pull request #79 from dagar/integrator_fix 
fw multiply integrator gain in loop
 2016-04-05 22:33:29 +02:00
Paul Riseborough 430d4b1cf8 EKF: ensure data in buffers is zero at startup 2016-04-05 22:23:37 +02:00
Paul Riseborough c6bd93ed40 EKF: Include all output files generated by derivation script 2016-04-05 22:23:37 +02:00
Paul Riseborough 470098e182 EKF: update default tuning parameters 
Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
 2016-04-05 22:23:37 +02:00
Paul Riseborough eaf94935f0 EKF: Fix bug in initialisation of height and magnetic field 
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
 2016-04-05 22:23:37 +02:00
Paul Riseborough 03eac2f25e EKF: Apply covariance prediction derivation changes 2016-04-05 22:23:37 +02:00
Paul Riseborough ac71ec5d37 EKF: Fix scaling error in covariance prediction derivation 
The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
 2016-04-05 22:23:37 +02:00
CarlOlsson 8678a939e2 removed reinitialization of intermediate variables 2016-04-05 14:18:47 +02:00
Roman Bapst 2632c930f7 Merge pull request #85 from CarlOlsson/add_error_reporting_tas 
added fault status reporting
 2016-04-04 18:52:06 +02:00
Roman Bapst 96b9674cb6 Merge pull request #84 from CarlOlsson/change_to_true_airspeed 
change name to true_airspeed
 2016-04-04 18:49:04 +02:00
CarlOlsson eee6f1048f Changed vtaspred threshold 2016-04-04 16:27:06 +02:00
CarlOlsson 3ad5b52aea removed comment 2016-04-04 16:26:46 +02:00
CarlOlsson 616725410d updated calculation 2016-04-04 16:26:13 +02:00
CarlOlsson ec9902d802 added fault status reporting 2016-04-04 16:21:12 +02:00
CarlOlsson 1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00