eb1e73ec81
Merge pull request #283 from PX4/ekf_matrix_cleanup
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EKF matrix typedef cleanup
2017-07-03 21:02:24 +10:00
ae118940b1
Merge pull request #292 from PX4/pr-use_baro_align
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use baro for the ekf alignment if range finder is primary height source
2017-07-03 20:31:16 +10:00
dfbc9de48e
Merge pull request #291 from PX4/pr-ekfWindEstBugFix
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EKF: Fix bug affecting wind estimation for planes
2017-07-01 11:06:58 +10:00
ed8fa16678
use baro for the ekf alignment if range finder is primary height source
2017-06-30 10:28:57 +02:00
73ef95b37f
Merge pull request #289 from PX4/pr-height_fixes
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Pr height fixes
2017-06-30 12:31:26 +10:00
59edccca4a
EKF: Fix bug in wind estimation for fixed wing
2017-06-30 10:32:54 +10:00
ba4a311771
EKF: Update comments for wind estimation logic
2017-06-30 10:32:23 +10:00
8e0cd1bc39
EKF: Add parameter to set initial and max allowed wind uncertainty
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This enables the initial uncertainty to be set based on application and also ensures that the max allowed growth in wind state variance is consistent with the initial uncertainty specified.
2017-06-30 10:31:16 +10:00
e1274ad28a
move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available
2017-06-29 17:07:58 +02:00
0d9e535acb
Use baro if reset to baro from gps and vice versa
2017-06-29 17:07:42 +02:00
4a4b0fa604
remove setting rng faulty in ev mode because not checked
2017-06-29 10:01:16 +02:00
066c641d61
range aid: switch to baro/gps even if rng aid conditions met and rng faulty
2017-06-29 09:47:02 +02:00
2f382c8e0e
if hgt mode is range, switch to baro if range is faulty
2017-06-29 09:47:02 +02:00
e4f36215cb
if in range aid mode, check faultiness that otherwise would never change back
2017-06-29 09:47:02 +02:00
e800de88b6
remove duplicate
2017-06-29 09:47:02 +02:00
42b2469a46
matlab: fix comment error in file conversion utility
2017-06-29 10:41:42 +10:00
70ece4df17
matlab: Add references for coning and skulling correction method
2017-06-28 15:27:59 +10:00
8ccc45b26b
matlab: Fix bug in replay plotting
2017-06-27 16:41:26 +10:00
3e99898d47
matlab: Update readme file for the replay and improve optical flow tuning
2017-06-26 15:23:30 +10:00
c1829d8e9a
matlab: fix bugs and add replay of PX4 optical flow test data
2017-06-26 14:48:03 +10:00
233c4b49c5
matlab: Add derivation of observation Jacobians used by the terrain estimator
2017-06-20 16:01:30 +10:00
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
9303db85eb
matlab: remove project specific code from mag cal comparison script
2017-06-17 17:35:07 +10:00
edeed770b7
matlab: fix alignment bugs
2017-06-17 11:46:36 +10:00
7f1cca5b28
Merge pull request #244 from PX4/pr-rangeAid
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Pr range aid
2017-06-16 17:47:21 +10:00
6f5cffafec
fix type of range_aid parameter: int -> int32_t
2017-06-15 10:14:59 +02:00
1fed209804
fix formatting
2017-06-15 09:10:43 +02:00
5036967343
barometer does not special height sensor offset because a barometer
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offset from the local origin is calculated if the primary source for
height is not baro
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
c5d464b821
make range sensor height offset computation more robust
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- when switching to range finder use the current terrain estimate as
height sensor offset, otherwise spikes in the range measurements could lead
to a wrong offset
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
182ea43445
fixed baro offset calculation
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- do not subtract the height sensor offset variable when computing the
baro offset from the local origin. The baro height offset is calculated
when baro is not fused and so the height sensor offset used in that case
is associated to another sensor and has nothing to do with the baro.
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
39983a7d55
range aid: added hysteresis for switching in and out of range aid
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- prevents rapid switching
- added innovation consistency check for using range aid
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
1b92c9b5b3
ekf_helper: fixed resetting height using range finder
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- take range sensor offset wrt to IMU into account
- use projection to earth Z axis
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
3778f0921a
ekf: enable range finder to be used for estimating height even if it's not
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the primary height source
- moved height control into single function in order to decide which sensor
should be used for estimating height
- under certain conditions allow to use the range finder to estimate height
even if it's not the primary height source
- fixed a bug where the delta time for the baro offset calculation was always
zero
- use methods to set height control flags to reduce code duplication and
to prevent bugs
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
36bffd2571
ekf: calculate the delta time between consecutive baro measurments
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(used for calculating filtered baro offset when primary height source
is not baro)
Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
a0ab5cf0d7
ekf vel_pos_fusion: added height sensor offset to range innovation calculation
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Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
a1e67396f4
ekf: added methods for setting control height flags
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Signed-off-by: Roman <bapstroman@gmail.com>
2017-06-15 09:10:43 +02:00
d6decb3c84
Merge pull request #277 from PX4/pr-ekfBufferParam
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EKF: Add a parameter to enable setting of a minimum buffer length
2017-06-15 07:34:21 +10:00
c48b879843
Merge pull request #276 from CarlOlsson/feature/only_update_mag_states
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EKF: Add feature to use the mag to only update the mag states
2017-06-14 11:04:14 +10:00
b255d4a53a
fixed typos
2017-06-12 18:13:22 +02:00
97eb17a62f
Merge pull request #265 from PX4/pr-ekfOutputObserver
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EKF: add option to output velocity as time derivative of position
2017-06-12 19:01:54 +10:00
fed4a9bc5a
EKF: add vertical position derivative output
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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
16c7041f4a
EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter
2017-06-12 09:33:34 +10:00
a17879ab91
matlab: miscellaneous EKF replay script file improvements
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Save APM and PX4 data into separate directories and level plots accordingly
2017-06-10 13:29:20 +10:00
3a7a66d360
matlab: improve EKF simulation fusion control
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Add ability to start before GPS checks pass.
Add ability to turn GPS fusion off and on during replay.
Add ability to turn Optical Flow fusion off and on during replay.
Add ability to turn Visual Odometry fusion off and on during replay.
Convert miscellaneous constants to parameters
2017-06-10 13:02:42 +10:00
dabf129daf
matlab: Update EKF replay script files
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Add automatic save of output results
2017-06-05 20:53:16 +10:00
d0b4f1e225
Use binary operator~ instead of logical operator!
2017-06-05 01:07:52 +08:00
c323b64742
Fix -Werror=int-in-bool-context on GCC 7
2017-06-05 01:07:52 +08:00
3e197fdded
EKF tests remove extra semicolon
2017-06-05 01:06:41 +08:00
e7ed32fb82
attitude_fw remove extra semicolons
2017-06-05 01:06:41 +08:00
6ed8512ff4
EKF parameters use int32_t ( #279 )
2017-06-03 17:16:29 -04:00
Paul Riseborough
ChristophTobler
Paul Riseborough
Daniel Agar
Roman
CarlOlsson
Julien Lecoeur