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1,080 Commits 514 Branches 136 Tags 234 MiB
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803 Commits

Author SHA1 Message Date
Paul Riseborough 8a713398cb EKF: Improve ground effect compensation 
Start deadline at zero so that initial rotor wash effect is rejected.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 39697f1196 EKF: rework optical flow switching 2018-06-09 22:23:55 +02:00
Paul Riseborough 1cfe845751 EKF: rework GPS quality check 2018-06-09 22:23:55 +02:00
Paul Riseborough 99a80387ed EKF: improve optical flow GPS quality checking 2018-06-09 22:23:55 +02:00
Paul Riseborough 7f36add241 EKF: scale GPS vertical accuracy check when using optical flow 2018-06-09 22:23:55 +02:00
Paul Riseborough fc9f532c34 EKF: relax range finder data continuity check 2018-06-09 22:23:55 +02:00
Paul Riseborough 93c456f2b8 EKF: Improve protection against badly conditioned dVel bias covariances 
Reduces likelihood of Z delta velocity bias learning to wrong value.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 225057aaf5 EKF: Fix bug preventing use of terrain estimator 2018-06-09 22:23:55 +02:00
Paul Riseborough adb4a09beb EKF: Fix bug causing large yaw innovations when GPS is lost 2018-06-09 22:23:55 +02:00
Paul Riseborough f59cd0f5b0 EKF: Don't make detection of indoor operation dependent on optical flow 
This is required because it can take several seconds for an optical flow sensor operation to be confirmed and there are also many use cases for indoor operation where no optical flow is used.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 1562a82dc2 EKF: Add parameter to adjust on-ground movement detector sensitivity 2018-06-09 22:23:55 +02:00
Paul Riseborough ea9e8246ed EKF: Improve detection of indoor flight condition 2018-06-09 22:23:55 +02:00
Paul Riseborough 565f99254c EKF: Reduce effect of yaw gyro bias when using optical flow indoors 2018-06-09 22:23:55 +02:00
Paul Riseborough e10798bfdf EKF: Add on ground movement detector 2018-06-09 22:23:55 +02:00
Paul Riseborough 2d3b65231b EKF: Reset yaw gyro bias learning when resuming use of magnetometer 
The previous lack of yaw drift constraint will also mean that the yaw gyro bias estimate is likely to be incorrect and needs to be re-learned.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 8191068959 EKF: Don't start using mag if optical flow use is interrupted 
If magnetometer use is being inhibited because an indoor condition has been detected (optical flow and poor or no GPS) and the optical flow fusion checks fail causing the EKF to stop navigating, we do not want the EKF to start using the magnetometer.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 4889e8432c EKF: Don't fuse multi rotor drag if yaw angle is bad 2018-06-09 22:23:55 +02:00
Paul Riseborough 092a8d8f21 EKF: Fix GPS validity time check error 2018-06-09 22:23:55 +02:00
Paul Riseborough 0160aaa568 EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing 2018-06-09 22:23:55 +02:00
Paul Riseborough 84516760c0 EKF: Use stricter GPS accuracy test when optical flow is being used 
This adds some hysteresis to the automated optical flow selection and also reduces likelihood of bad GPS being used when operating indoors,
 2018-06-09 22:23:55 +02:00
Daniel Agar a80b3ab610 set MODULE define for each library 
- this is needed for INFO, WARN, ERR messages when used within PX4
 2018-05-27 20:08:47 +02:00
Bart Slinger bae4b8a5e7 remove superfluous elseif (#431) 
* remove superfluous elseif

* Set ev_hgt flag false when starting on baro
 2018-05-11 08:38:42 +10:00
Paul Riseborough e8e9e34a73 EKF: fix bug causing height offset when GPS use stops 
This bug causes the last vertical velocity observation to be continuously fused.
 2018-05-10 13:45:19 +10:00
Paul Riseborough 6cadc92285 EKF: Don't reject saturated flow data when it is the only aiding source 2018-05-10 07:11:59 +10:00
Paul Riseborough bf902e5eca EKF: Prevent flow motion check false positives 
The previous implementation could false trigger if there was significant vibration below 200Hz during startup.
 2018-05-09 07:47:17 +10:00
Paul Riseborough bdf5b3e003 EKF: Don't assume large position uncertainty when starting optical flow nav 2018-05-08 08:43:56 +10:00
Paul Riseborough e26711af7d EKF: relax terrain update requirements for continuing optical flow use 2018-05-08 08:43:14 +10:00
Paul Riseborough 868bc01087 EKF: Relax minimum required range finder measurement rate 2018-05-08 08:43:14 +10:00
Paul Riseborough 02963a85c4 EKF: relax optical flow on ground motion checks 2018-05-08 08:43:14 +10:00
Paul Riseborough 24b005ed57 EKF: range finder aiding logic fixes 2018-05-08 08:42:29 +10:00
Paul Riseborough 0c0a6602b0 EKF: Decouple range finder use criteria checking and selection 2018-05-08 08:42:29 +10:00
Paul Riseborough 6708bec1b4 EKF: Don't auto select range finder for height when on ground. 2018-05-08 08:42:03 +10:00
Paul Riseborough 0a63052753 EKF: Fix false triggering of optical flow bad motion checks 2018-05-08 08:42:03 +10:00
Paul Riseborough f9d4934db6 EKF: update comments 2018-05-08 08:42:03 +10:00
Paul Riseborough 82de3141f0 EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height 2018-05-08 08:42:03 +10:00
Paul Riseborough 389786ef1b EKF: Stop using EV for yaw when GPS fusion starts 2018-05-08 08:42:03 +10:00
Paul Riseborough 4ab78230e6 EKF: Add persistence criteria to GPS fail check 2018-05-08 08:41:15 +10:00
Paul Riseborough 67d71ca406 EKF: allow GPS fallback if quality bad and alternative aiding available 2018-05-08 08:41:15 +10:00
Paul Riseborough bd59e381db EKF: always run GPS checks 2018-05-08 08:40:31 +10:00
Daniel Agar 3639087ac6 cmake and Jenkins add basic address santiizer test buld 2018-05-05 16:11:04 -04:00
Daniel Agar cf957b5831
code coverage cmake and Jenkins support 2018-05-04 01:40:23 -04:00
Daniel Agar 372f9f430b EKF pytest save plots to pdf 2018-05-03 22:25:36 -04:00
Daniel Agar d6a3110918 visual studio build compatibility 2018-05-03 22:25:36 -04:00
Daniel Agar 3a61035ac2 fix and re-enable EKF pytests 2018-05-03 22:25:36 -04:00
Daniel Agar c5b2f59f57 PX4 style fixes (excluding EKF generated code) 2018-05-03 22:25:36 -04:00
Daniel Agar e5952fadaf cmake standalone build 2018-05-03 22:25:36 -04:00
Daniel Agar eec71d1a10 EKF get_ekf_soln_status() fix pred_pos_horiz_abs 2018-05-03 00:12:23 -04:00
Paul Riseborough 1bd1809d6e
EKF: Fix bug causing simultaneous range and baro height fusion (#429) 2018-05-03 13:24:33 +10:00
Daniel Agar a14434d6dc EKF always fill position and velocity accuracy (#425) 2018-04-23 21:15:29 +10:00
Paul Riseborough 6e3403ce28
EKF: prevent race condition between global position validity and eph reporting 2018-04-21 13:04:04 -04:00