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62 Commits

Author SHA1 Message Date
Paul Riseborough 16154423c8 matlab: update optical flow derivation 
Support use of sensors with arbitrary orientation in body frame
 2017-11-15 11:16:19 +11:00
Paul Riseborough 9cf0948bcf matlab: add derivation for air data error equations 2017-08-12 20:59:41 +10:00
Paul Riseborough 33e8d5923f matlab: Allow replay to handle late start GPS data in log 
Also minor fix to comments.
 2017-07-24 16:34:50 +10:00
Paul Riseborough e18f92d9c2 matlab: Improve conversion of APM log data 
Allow file conversion to work with unequal length GPS and GPA data.
Allow file conversion to work if range, flow and odometry data is not present.
 2017-07-24 16:33:12 +10:00
Paul Riseborough 5aeeebf7ac matlab: Fix derivation for 321 Euler rotation sequence 2017-07-21 10:48:54 +10:00
Paul Riseborough 26b5f26891 matlab: Add scripts to calculate rotation conversions for 321 or 312 Euler sequences 2017-07-21 10:22:17 +10:00
Nicolae Rosia 5277141166 sensor_combined stores deltas in usec instead of seconds 
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
 2017-07-16 20:50:16 +03:00
Paul Riseborough e2a5e57e14 matlab: Update replay scripts 
Miscellaneous fixes and tuning changes.
Add plotting of Euler angle uncertainties.
 2017-07-16 12:56:02 +10:00
Paul Riseborough 42b2469a46 matlab: fix comment error in file conversion utility 2017-06-29 10:41:42 +10:00
Paul Riseborough 70ece4df17 matlab: Add references for coning and skulling correction method 2017-06-28 15:27:59 +10:00
Paul Riseborough 8ccc45b26b matlab: Fix bug in replay plotting 2017-06-27 16:41:26 +10:00
Paul Riseborough 3e99898d47 matlab: Update readme file for the replay and improve optical flow tuning 2017-06-26 15:23:30 +10:00
Paul Riseborough c1829d8e9a matlab: fix bugs and add replay of PX4 optical flow test data 2017-06-26 14:48:03 +10:00
Paul Riseborough 233c4b49c5 matlab: Add derivation of observation Jacobians used by the terrain estimator 2017-06-20 16:01:30 +10:00
Paul Riseborough 9303db85eb matlab: remove project specific code from mag cal comparison script 2017-06-17 17:35:07 +10:00
Paul Riseborough edeed770b7 matlab: fix alignment bugs 2017-06-17 11:46:36 +10:00
Paul Riseborough a17879ab91 matlab: miscellaneous EKF replay script file improvements 
Save APM and PX4 data into separate directories and level plots accordingly
 2017-06-10 13:29:20 +10:00
Paul Riseborough 3a7a66d360 matlab: improve EKF simulation fusion control 
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
Paul Riseborough dabf129daf matlab: Update EKF replay script files 
Add automatic save of output results
 2017-06-05 20:53:16 +10:00
Paul Riseborough 8351e13c70 Matlab: update readme file and provide link to sample data set 2017-06-03 13:22:08 +10:00
Paul Riseborough 9f61622044 Matlab: Improve efficiency of odometry derivation 2017-06-03 12:39:24 +10:00
Paul Riseborough 510b8763ea Matlab: Add basic implementation of EKF to support development testing 2017-06-03 12:39:24 +10:00
Paul Riseborough a02a046f5e EKF: Clean up auto-code files for body frame velocity measurements 2017-03-06 09:01:46 +11:00
Paul Riseborough e569578cf9 EKF: add derivation for body frame velocity measurements 2017-03-04 15:32:10 +11:00
Paul Riseborough eff9af549f scripts: derive conversion from polar to cartesian wind state covariance 2016-08-11 15:26:21 +02:00
georgehines 4f8ffb3420 promote to float (for internal representation) before scaling by format multiplier (#175) 2016-07-10 11:13:18 +02:00
Paul Riseborough 0cc0008927 Merge pull request #166 from georgehines/matlab-log-import 
add double support
 2016-06-30 17:21:37 +10:00
George Hines f467e714bd add double support 2016-06-23 09:24:11 -07:00
Paul Riseborough a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough 6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Paul Riseborough a189c60d33 EKF: update code fragment text files 2016-05-05 21:23:03 +10:00
Paul Riseborough 57d3036ee7 EKF: update derivation files 2016-05-05 21:23:03 +10:00
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough 6ecbefd7e4 EKF: add matlab script to test complementary filter gains 2016-04-30 11:05:03 +10:00
George Hines 9994aa7fdb fix a field name that I missed last time 2016-04-22 17:21:47 -07:00
George Hines 59df1a3552 rename log GUI consistent with its assumptions 2016-04-21 10:58:28 -07:00
George Hines 62bdcf3e9b supports APM dataflash logs 2016-04-21 10:54:37 -07:00
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
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
Paul Riseborough c6bd93ed40 EKF: Include all output files generated by derivation script 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
Paul Riseborough e9ccfdd484 EKF: Update derivation scripts and outputs 
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
 2016-03-11 11:03:43 +11:00
Paul Riseborough ea29e39e5b EKF: Updated derivation of Jacobians for direct heading measurement 
Adds an alternative using a 312 Euler sequence.
 2016-03-01 15:21:36 +11:00