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1,184 Commits 514 Branches 136 Tags 234 MiB
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1184 Commits

Author SHA1 Message Date
Paul Riseborough 007e73379f EKF: Improve reporting of position error 2016-10-06 09:02:29 +02:00
Paul Riseborough 744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Paul Riseborough 5ab90048e1 Merge pull request #184 from PX4/pr-rngDelayFix 
fixed computation of range measurement timestamp
 2016-10-04 09:13:19 +11:00
Paul Riseborough b29174d86b Merge pull request #193 from PX4/pr-haglInit 
Pr hagl init
 2016-10-04 08:21:15 +11:00
Paul Riseborough 5702c2d51b Merge pull request #186 from priseborough/pr-ekfOutputPredictor 
EKF: Improve Output Predictor Tracking
 2016-10-04 07:47:34 +11:00
Paul Riseborough b5ba4f280f EKF: reduce output predictor velocity time constant 2016-10-03 14:13:07 +11:00
Paul Riseborough 65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Paul Riseborough c81f9f1dba EKF: Reduce output predictor tracking errors 
Implements a PI tracking loop
 2016-10-03 14:13:07 +11:00
Julian Oes 4fefe5c6c6 cmake: stack size args cleanup 2016-09-28 08:23:18 +02:00
Julian Oes 616aeb9ad7 ekf_helper: fix forgotten return value 2016-09-27 16:36:29 +02:00
Julian Oes fd403b733d CMakeLists: don't always optimize for size 
Going forward the optimization flags should be set for a platform,
rather than for each individual module.
 2016-09-27 16:35:35 +02:00
Roman c6e1d97176 terrain estimator: initialise with projection 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:09:42 +02:00
Roman cc05db4985 terrain estimator: pass initialisation return value correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:07:50 +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
Paul Riseborough 7240fc78fe Merge pull request #183 from CarlOlsson/cont_wind_estimation 
Fix wind state  and wind variance initialization
 2016-08-23 19:55:22 +10:00
James Goppert eab57b0187 Merge pull request #189 from PX4/revert-188-matrix_update 
Revert "Update matrix."
 2016-08-18 12:29:41 -04:00
James Goppert e5b74f511f Revert "Update matrix." 2016-08-18 12:29:31 -04:00
James Goppert 90f6bd7f3d Merge pull request #188 from PX4/matrix_update 
Update matrix.
 2016-08-18 12:06:20 -04:00
James Goppert 1daea6c1a3 Update matrix. 2016-08-18 11:58:31 -04:00
CarlOlsson 8d60da1442 removed old wind initialization 2016-08-11 15:26:21 +02:00
CarlOlsson 51c8715638 fixed issue with airspeed never fused 2016-08-11 15:26:21 +02:00
Paul Riseborough d1d56d9e5e EKF: Add logic to to control wind state estimation 2016-08-11 15:26:21 +02:00
Paul Riseborough 75bec44b94 EKF: add function to initialise wind states 2016-08-11 15:26:21 +02:00
Paul Riseborough 6dff2df28e EKF: Add method to reset wind state covariances 
Set variances in polar coordinates and rotate into cartesian frame
 2016-08-11 15:26:21 +02:00
Paul Riseborough eff9af549f scripts: derive conversion from polar to cartesian wind state covariance 2016-08-11 15:26:21 +02:00
Paul Riseborough a9894d7e8c EKF: improve efficiency of airspeed fusion 
Don't compute array entries where the result will be zero
 2016-08-11 15:26:21 +02:00
Roman Bapst df0f8fed45 fixed wrong condition on which gps height would be fused (#180) 
- this solves the issue where height innovations would jump
between two regimes

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-08-05 14:45:48 +02:00
Youssef Demitri 168d9add76 added getter function for wind states 2016-07-22 12:33:41 +02:00
Beat Küng 73b8ac954d ekf_helper.cpp: remove unused includes 
This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
       not_supported =     ENOTSUP,

The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
 2016-07-15 12:50:11 +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
georgehines 4f8ffb3420 promote to float (for internal representation) before scaling by format multiplier (#175) 2016-07-10 11:13:18 +02:00
Paul Riseborough a2d866520a EKF: perform innovation check in all axes before fusing 3D mag data (#171) 
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
 2016-07-07 16:46:30 +02:00
Beat Küng 5e0a229ee8 data_validator cleanup: use dimensions variable, use static for some constants (#167) 2016-06-30 13:28:01 +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
Paul Riseborough eaae95fdc4 Merge pull request #160 from priseborough/pr-ekf2Improvements 
EKF: clean up fusion control logic
 2016-06-30 17:18:14 +10:00
Paul Riseborough f5e9ea1626 EKF: Prevent potential divide by zero 2016-06-30 17:06:32 +10:00
Paul Riseborough eb2afc522d EKF: fix bug preventing use of baro as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 573f252b73 EKF: fix bug preventing GPS use as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 5f9752cac8 EKF: Improve function names 2016-06-30 17:06:32 +10:00
Paul Riseborough 7bc9217f00 EKF: Clean up control of observation fusion 
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
 2016-06-30 17:06:32 +10:00
Beat Küng 9a95898414 gps_message: remove time_usec_vel from struct (unused) 2016-06-27 10:12:23 +02:00
George Hines f467e714bd add double support 2016-06-23 09:24:11 -07:00
Roman Bapst 1b394460a3 fix comment about filter bias states 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Lorenz Meier 74a77b45b2 Add DOI 2016-06-12 11:51:54 +02:00
Paul Riseborough 16bdbebdc6 Merge pull request #161 from PX4/pr-resetFix 
do not return early in velocity reset method
 2016-06-08 17:23:09 +10:00
Roman 703fb4e31b do not return early in velocity reset method otherwise 
some code will not be executed
 2016-06-08 07:51:18 +02:00
Paul Riseborough 928a7dd059 Merge pull request #157 from PX4/pr-ekf2ResetInterface 
Change state reset information interface
 2016-06-08 14:18:31 +10:00
Paul Riseborough 2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough e72788bd0f Merge pull request #159 from priseborough/pr-ekf2MagBugFix 
EKF: Fix critical bugs in mag fusion and yaw reset
 2016-06-08 14:11:47 +10:00