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1184 Commits

Author SHA1 Message Date
Lorenz Meier 7c7945961e Merge pull request #107 from dagar/l1_init 
L1 initialize everything
 2016-04-26 10:01:27 +02:00
Daniel Agar fe5a337c99 l1 initialize everything 2016-04-25 14:39:11 -04:00
George Hines 9994aa7fdb fix a field name that I missed last time 2016-04-22 17:21:47 -07:00
Paul Riseborough 42635903cd Merge pull request #102 from priseborough/pr-ekf2HeightReset 
EKF: Improve height reset behaviour
 2016-04-23 10:04:13 +10:00
Paul Riseborough 4fcbfb5d42 EKF: correct error in comment 2016-04-23 07:55:25 +10:00
Paul Riseborough 13814681d7 Merge pull request #104 from georgehines/matlab-log-import 
Matlab log import
 2016-04-23 07:50:07 +10:00
Paul Riseborough 3e81b86280 EKF: improve height reset logic 
Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
 2016-04-22 10:50:53 +10:00
Paul Riseborough 874558d194 EKF: improve detection of bad vert accel data 
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
 2016-04-22 09:24:04 +10:00
Paul Riseborough 469a7d1711 EKF: rework height reset 
calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
 2016-04-22 08:43:56 +10:00
Paul Riseborough e3365525c2 EKF: rework height reset logic 2016-04-22 08:39:24 +10:00
Paul Riseborough 421703c267 EKF: rework initialisation of height state and offsets 2016-04-22 08:38:41 +10:00
Paul Riseborough a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Paul Riseborough 10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Paul Riseborough 0de15b1b20 EKF: Add variables to monitor vertical position and height offset 2016-04-22 08:28:56 +10:00
Paul Riseborough 62c6d40f1f EKF: Add methods to ring buffer to access specific indices 2016-04-22 08:21:36 +10:00
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
Paul Riseborough b295f9050c EKF: ensure GPS check status is correctly initialised 2016-04-20 21:53:15 +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 00c8821006 disable airspeed fusion for now. Needs more testing and implementation of side slip fusion 2016-04-19 11:18:45 +02:00
Paul Riseborough 2fa8a11a29 EKF: replace unnecessary memcopy 2016-04-19 19:10:41 +10:00
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
Paul Riseborough 82920da232 EKF: strengthen checking of local position status 
provides immediate status reporting when dropping out of optical flow mode
 2016-04-19 17:38:22 +10:00
Paul Riseborough 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough 6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Lorenz Meier 3455931617 EKF init: Fix initialization statement 2016-04-17 19:29:23 +02:00
Lorenz Meier e1ce948768 Merge pull request #97 from dagar/cmake_update 
cmake STACK -> STACK_MAIN
 2016-04-17 15:58:52 +02:00
Daniel Agar 861c13f1fe cmake STACK -> STACK_MAIN 2016-04-16 21:46:50 -04:00
Paul Riseborough 55db3d8725 Merge pull request #94 from priseborough/pr-sensorPosComp 
Add compensation for EKF sensor position offsets
 2016-04-14 11:45:24 +10:00
Paul Riseborough ea38aa130f EKF: update default time delay parameter values 2016-04-14 08:53:59 +10:00
Paul Riseborough 8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough 163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough 2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough 5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 48b105b748 EKF: correct range finder data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 3580940e10 EKF: Add sensor position offset parameters 2016-04-12 11:14:31 +10:00
Paul Riseborough 64e95910c4 Merge pull request #92 from priseborough/pr-ekf2HgtResetFix 
EKF: Fix vulnerability in height reset
 2016-04-12 11:09:06 +10:00
Paul Riseborough 006b6b58e4 EKF: fix bug in status print statement 2016-04-12 10:38:50 +10:00
Paul Riseborough 74078cde94 EKF: reset state variance when performing a height reset 
Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
 2016-04-11 19:40:27 +10:00
Paul Riseborough f4f108d57d EKF: Reset vertical velocity when performing a height reset 2016-04-11 19:25:24 +10:00
Paul Riseborough 61b919754d Merge pull request #90 from georgehines/matlab-log-import 
version/toolbox compatibility
 2016-04-11 05:23:50 +10:00
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
Paul Riseborough a919088b6a Merge pull request #89 from georgehines/matlab-log-import 
Matlab log import
 2016-04-07 15:44:04 -07:00
George Hines 684b41494e adds estimator log viewer UI 2016-04-07 15:13:19 -07:00