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752 Commits 514 Branches 136 Tags 234 MiB
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75 Commits

Author SHA1 Message Date
Daniel Agar 87fdee440b EKF estimator_interface coverity fix 139419 2017-04-29 11:48:15 +02:00
Daniel Agar b3f8fd19e0 EKF estimator_interface coverity fix 140490, 140491 2017-04-29 11:48:15 +02:00
Daniel Agar 3919d60f66
ekf2 initialization fixes 2017-04-24 18:56:50 -04:00
Paul Riseborough c3f966f53e EKF: remove clang build error message 2017-04-18 19:22:59 +10:00
Paul Riseborough c607941e2f EKF: Allow external setting of air density for multi-rotor drag fusion 2017-04-16 13:07:12 +02:00
Paul Riseborough 3758c5a09d EKF: down-sample drag specific force data 2017-04-16 13:07:12 +02:00
Paul Riseborough 465b145929 EKF: Add multi-rotor drag model for wind estimation 2017-04-16 13:07:12 +02:00
Paul Riseborough 0d7e7e9d81 EKF: Don't use EKF origin in GPS drift check calculation 
The GPS drift calculations need to be able to run independently of the EKF origin.
 2017-04-12 13:11:34 +02:00
Paul Riseborough 2426f1dd3a EKF: remove use of memset to initialise variable 
When using a union of flags and integer value it is safer to initialise the value to 0 rather than memset the flags because the flags may not define all bits in the integer.
 2017-03-21 07:57:23 +11:00
Paul Riseborough 040639837e EKF: Use common timeout test for reporting deadreckoning 
Use a parameter to set the time-out threshold
Use a class variable for the time-out flag
Clean up comments
 2017-03-15 07:57:38 +01:00
Paul Riseborough 9bb54ccc08 EKF: don't accept GPS data without a 3D lock 2017-03-10 10:15:53 +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
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -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
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
Paul Riseborough 3c4c09593f EKF: Rationalise console messages 
Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
 2016-12-28 10:39:47 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough afd6e54b2a EKF: Allow for worst case timing jitter when setting observation buffer length 2016-11-07 11:50:16 +11:00
Paul Riseborough d5b398ddb1 EKF: Minimise data buffer lengths 
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
 2016-11-07 09:06:45 +11:00
Paul Riseborough b10b0184c5 EKF: Add IMU vibration calculation and reporting 
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
 2016-10-19 21:46:55 +11:00
Paul Riseborough 744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Roman d53f532079 fixed computation of range measurement timestamp 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-17 11:41:12 +02:00
Lucas De Marchi 2240eb6b4f Move __STDC_FORMAT_MACROS to build system (#174) 
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.

Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
 2016-07-10 16:29:51 +02:00
Paul Riseborough 3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00
Julian Oes b8e2f79005 EKF: correct include paths 2016-06-02 16:29:22 +01:00
Julian Oes ecfd8c867a EKF: use ECL printfs everywhere 
- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
 2016-06-02 16:07:26 +01:00
Paul Riseborough 733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough 4237269fab EKF: add struct to capture state reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough 8125717bf5 EKF: remove un-used airspeed health class variable 
Airspeed rejection now is captured in _sensor_fault_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 7dd123094f EKF: correct documentation 2016-05-26 21:42:56 +10:00
Paul Riseborough d5b5cb5899 EKF: improvements to observation collection 
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
 2016-05-26 13:27:08 +10:00
Paul Riseborough 5a40aa2c1a EKF: prevent unwanted GPS use 2016-05-24 07:55:09 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
waltjohnson 7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Nic 1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
devbharat 6d20a426e0 Reset time_last_ext_vision 2016-05-14 21:17:29 +10:00
Paul Riseborough 3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +10:00
Lorenz Meier 9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
EKF: improve reporting of filter status
 2016-04-20 11:44:02 +02:00
Roman Bapst 6344fa0e8c limit maximum rates of all measurement at which they are stored into the buffers 2016-04-19 12:47:57 +02:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00