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707 Commits

Author SHA1 Message Date
Paul Riseborough b51abf4aff EKF: Add console notification for accel bias covariance reset 2017-03-10 10:14:06 +01:00
Paul Riseborough 8511754094 EKF - detect and fix badly conditioned accel bias covariance values. 2017-03-10 10:14:06 +01:00
Paul Riseborough cf31945038 EKF: Fix use of incorrect timestamp 
This was incorrectly using the IMU (1/250 sec) timestamp instead of the EKF (1/100 sec) value.
The corresponding accelerometer limit has been made a parameter and adjusted to match previous behaviour.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 879ad1fd2c Merge pull request #231 from pickledgator/ev_hgt_counter_fix 
height counter update for ev primary height source
 2017-03-10 14:18:35 +11:00
Paul Riseborough 092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00
Paul Riseborough e4a4427991 Revert "EKF: fix compile error" 
This reverts commit 6db552717d.
 2017-03-10 07:38:02 +11:00
Paul Riseborough 6db552717d EKF: fix compile error 2017-03-07 21:13:45 +11:00
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
Daniel Agar eb4f5ecbb9 cmake add all EKF sources (#243) 
- trivial cmake cleanup
 - travis-ci build with both gcc and clang
 - update matrix to latest (matches PX4)
 - closes #240
 2017-02-27 00:46:48 -05:00
Daniel Agar 507f48a147 geo NULL to nullptr (#242) 2017-02-25 15:27:00 -05:00
Paul Riseborough 0d77470efc EKF: Use conservative reporting of velocity errors when aiding is lost 2017-02-25 21:17:01 +01:00
Paul Riseborough 8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
Roman 7e2597ec28 update range sensor angle parameters in case they have changed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman aa53f45f15 terrain estimator: removed unused hrt dependancy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman 6480fcc3d5 terrain estimator: fixed computation of filtered time since last range update 
- do not use hrt to compute delta time
- limit filter state
- do not use static variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Paul Riseborough 6561edb9a5 EKF: Clean up terrain estimation functionality. 
This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
 2017-02-22 14:12:05 +01:00
devbharat 8004e9fe7e EKF: Make range finder data continuous check more robust 
Use a filtered arrival time delta to determine if range data is continuous
 2017-02-22 14:12:05 +01:00
Paul Riseborough d94068b88a EKF: Simplify calculation of height above terrain observation variance 
The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
 2017-02-22 14:12:05 +01:00
Paul Riseborough 3dadc98b43 EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00
Paul Riseborough cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
devbharat d9688fae7d EKF: Simplify terrain position validity check 
Remove the relative accuracy check that was false triggering close to ground
 2017-02-22 14:12:05 +01:00
Paul Riseborough af26ade1ce EKF: Use norm for vector length everywhere 2017-02-22 14:12:05 +01:00
Paul Riseborough 6e5a9aabe1 Merge pull request #234 from PX4/pr-optFlowUpdates 
EKF: optical flow improvements
 2017-02-22 09:00:48 +11:00
Andreas Antener 66b8f7ec5b Removed obsolete fields from ECL control data 2017-02-12 11:40:14 +01:00
Andreas Antener 5363e8d307 Wheel controller: use library function to wrap pi 2017-02-12 11:40:14 +01:00
Daniel Agar 674ab3f81b attitude_fw fix style 2017-02-12 11:40:14 +01:00
Roman f22ad30ef3 removed turn compensation flag form control data since it's obsolete 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman e1f9874c82 wheel controller: fix computation and scaling of integrator 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman c4cc02b3f2 yaw controller: fix bug where roll for turn coordination was constrained 
wrongly

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 391b6dfd00 yaw controller: for now do not do turn compensation when inverted and use 
the roll setpoint as limit for turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 66b7773059 yaw controller: deactivate lateral acceleration control for now but 
put comment of how to do it properly

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman f300877db4 yaw controller: computed desired yaw rate based on coordinated turn constraint 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 4057defa53 pitch controller: removed turn offset compensation form pitch controller 
- turn compensation is included in the desired yawrate

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 55401ec1b0 fw attitude control: compute integrator correctly 
- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman ac7fc30ea7 fw attitude controllers: restructuring in order to allow acro flight mode 
- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Daniel Agar 7883085e4a clang-tidy readability-simplify-boolean-expr (#235) 2017-02-02 00:17:43 -05:00
Daniel Agar 47b8ef258b clang-tidy performance-type-promotion-in-math-fn (#236) 2017-02-02 00:17:08 -05:00
Paul Riseborough bcf7cac5d9 EKF: remove hardcoded limit on optical flow time delta 
Allow for up to 50% lost data.
 2017-01-18 06:06:45 +11:00
Paul Riseborough 3fb7effb0c EKF: Allow optical flow use when on-ground with poor data quality 2017-01-18 06:06:45 +11:00
Paul Riseborough 21270bb06a EKF: Use last known position when resuming OF aiding 2017-01-17 08:58:01 +11:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Roman c5a55d97aa initialise data members properly 
- dot not use memset for struct with non POD types

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-15 10:02:31 +01:00
Paul Riseborough 1465adca2f EKF: Improve use of memcpy 
Changes made to remove Coverity scan errors
 2017-01-15 10:02:31 +01:00
Paul Riseborough 26a06567bb EKF: add missing initialisation for class variables 2017-01-15 10:02:31 +01:00
Paul Riseborough f999729d70 EKF: fix incorrect use of memcpy 2017-01-15 10:02:31 +01:00