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907 Commits

Author SHA1 Message Date
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 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
TSC21 7affb42f22 travis: install python3.5 for trusty in order to run pip3 2017-09-14 09:08:11 +01:00
Paul Riseborough dd5b8525c3 EKF: Use hamiltonian convention for quaternion product order 2017-08-31 11:14:02 +02:00
Paul Riseborough b57b5e869d matrix: Use hamiltonian convention for quaternion product 2017-08-31 11:14:01 +02:00
Paul Riseborough b0300b9723 Revert "attitude_fw delete unused and cleanup" 
This reverts commit 25bd3ac5e6.
 2017-08-30 16:23:40 +02:00
Paul Riseborough 1531269f92 Merge pull request #319 from PX4/pr-attitude_fw-cleanup 
attitude_fw delete unused and cleanup
 2017-08-28 09:48:49 +02:00
Daniel Agar 25bd3ac5e6
attitude_fw delete unused and cleanup 2017-08-26 17:44:24 -04:00
Paul Riseborough fac292fef9 Merge pull request #321 from dagar/pr-ekf_formatting 
EKF trivial code style cleanup
 2017-08-26 18:17:23 +10:00
Daniel Agar 99ba1c3745
EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00
ChristophTobler 89236ef275 Merge pull request #314 from PX4/pr-check_stuck_rng 
Pr check stuck rng
 2017-08-21 07:54:06 +02:00
Peter Dürr 305a95aef9 Integrate Python-based tests and benchmark into Travis 
* Unfortunately, due to the SWIG dependency, we need sudo to install on
  Travis (conflicts when adding with debian-sid source prevent using addons)
  which means we cannot use the container-based infrastructure anymore.
* Building the Python bindings requires g++5 (at least with -Werr set).
* When building the Python bindings on Travis, the numpy includes are not found
  by cmake, so they have to be added separately by running a Python process with
  `numpy.get_include()`
* The build script now (somewhat clumsily) depends on the RUN_PYTEST environment
  variable. If it is set to anything other than "", it will make the tests and
  run tests and benchmarks
 2017-08-14 12:02:03 +02:00
Peter Dürr 15c8c24418 Fix time units on plots 
* Time in plots was of by a factor of 1e3 due to wrong conversion from us.
 2017-08-14 12:02:03 +02:00
Peter Dürr b29067a188 Better handle Python dependencies 
* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
  user if necessary.
 2017-08-14 12:02:03 +02:00
Peter Dürr bb5719a0da Add Python wrapper to ecl and use it to test functionality 
* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
  Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
  bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
 2017-08-14 12:02:03 +02:00
Peter Dürr 5988900044 Add getters for a few private variables of the EstimatorInterface 
* For testing it is useful to have access to more internal states
* For the same reason I also promote the const FILTER_UPDATE_PERIOD_MS to
  public
 2017-08-14 12:02:03 +02:00
Peter Dürr a2ed0a76f9 Make the destructor of EstimatorInterface virtual 
* This is a sane choice (and should arguably always be done for classes with
  virtual methods to avoid undefined behavior)
* It is required for wrapping the EstimatorInterface with SWIG (without virtual
  destructor, deriving from the EstimatorInterface leads to
  -Werror=delete-non-virtual-dtor).
 2017-08-14 12:02:03 +02:00
Paul Riseborough 9cf0948bcf matlab: add derivation for air data error equations 2017-08-12 20:59:41 +10:00
Paul Riseborough 3983ac23fa Merge pull request #316 from PX4/pr-ekfTrueAirspeed 
EKF: Add true airspeed accessor
 2017-08-11 08:18:04 +10:00