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px4-firmware
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1184 Commits

Author SHA1 Message Date
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
Lorenz Meier f86ef34782 EKF: Fix error message which lied 2016-04-05 19:06:35 -07:00
Paul Riseborough a352c2f4e3 EKF: Fix posix build error 
Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.
 2016-04-05 18:57:21 -07:00
Lorenz Meier 6b3ad03419 Merge pull request #86 from CarlOlsson/small_airspeed_fix 
Small airspeed fix
 2016-04-05 16:38:37 -07:00
Roman Bapst f35e78643c Merge pull request #79 from dagar/integrator_fix 
fw multiply integrator gain in loop
 2016-04-05 22:33:29 +02:00
Paul Riseborough 430d4b1cf8 EKF: ensure data in buffers is zero at startup 2016-04-05 22:23:37 +02:00
Paul Riseborough c6bd93ed40 EKF: Include all output files generated by derivation script 2016-04-05 22:23:37 +02:00
Paul Riseborough 470098e182 EKF: update default tuning parameters 
Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
 2016-04-05 22:23:37 +02:00
Paul Riseborough eaf94935f0 EKF: Fix bug in initialisation of height and magnetic field 
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
 2016-04-05 22:23:37 +02:00
Paul Riseborough 03eac2f25e EKF: Apply covariance prediction derivation changes 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
CarlOlsson 8678a939e2 removed reinitialization of intermediate variables 2016-04-05 14:18:47 +02:00
Roman Bapst 2632c930f7 Merge pull request #85 from CarlOlsson/add_error_reporting_tas 
added fault status reporting
 2016-04-04 18:52:06 +02:00
Roman Bapst 96b9674cb6 Merge pull request #84 from CarlOlsson/change_to_true_airspeed 
change name to true_airspeed
 2016-04-04 18:49:04 +02:00
CarlOlsson eee6f1048f Changed vtaspred threshold 2016-04-04 16:27:06 +02:00
CarlOlsson 3ad5b52aea removed comment 2016-04-04 16:26:46 +02:00
CarlOlsson 616725410d updated calculation 2016-04-04 16:26:13 +02:00
CarlOlsson ec9902d802 added fault status reporting 2016-04-04 16:21:12 +02:00
CarlOlsson 1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00
Roman Bapst 068c29851c Merge pull request #80 from PX4/fuse_tas_rebased 
Fuse tas rebased
 2016-03-30 17:17:05 +02:00
Roman Bapst 27b894540e put airspeed fusion logic but don't actually call it yet 2016-03-30 17:01:03 +02:00
Roman Bapst 1b7115dec9 increased airspeed fusion rate to 12.5Hz 2016-03-30 17:01:03 +02:00
CarlOlsson f5a9afd278 moved init 2016-03-30 17:01:03 +02:00
CarlOlsson f990d99790 fixed bug 2016-03-30 17:01:03 +02:00
CarlOlsson 4301e1105b added commas 2016-03-30 17:01:03 +02:00
CarlOlsson 81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
CarlOlsson d440c883b5 adopted ekf_interface.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson f8878d41dc adopted ekf_helper.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson 6bb2f7638c adopted ekf.h 2016-03-30 17:01:03 +02:00
CarlOlsson 0918fa04c7 adopted ekf.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson 92abf93c8f adopted common.h 2016-03-30 17:01:03 +02:00
CarlOlsson 0fb1e0578b added function for fusing airspeed 2016-03-30 17:01:03 +02:00
Daniel Agar 82cf1827d4 fw multiply integrator gain in loop 2016-03-25 17:28:39 -04:00
Paul Riseborough 0ea55e25f9 Merge pull request #78 from PX4/pr-addGpsHgtOption 
EKF: Add option to use GPS for height and improve height fall-back behaviour
 2016-03-23 11:19:01 -07:00
Paul Riseborough 400a6e12ba EKF: Ensure all data in buffers is initialised 
This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
 2016-03-20 15:14:16 +11:00
Paul Riseborough 064a0e4dbc EKF: Don't use GPS to set position noise when not using GPS 2016-03-16 20:12:36 +11:00
Paul Riseborough c23d72ba29 EKF: Ensure filter control modes are correctly initialised 2016-03-16 17:22:27 +11:00
Paul Riseborough 9f3b1351f7 EKF: Don't initialise velocity to GPS on initial alignment 
For initial alignment the velocity and position should start at zero
 2016-03-16 17:20:57 +11:00
Paul Riseborough 687fcc70be EKF: Explicitly define type conversion for GPS height 2016-03-16 17:18:20 +11:00
Paul Riseborough e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough 63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough 4bd79c9e5d Merge pull request #76 from PX4/pr-fixRngHgtMode 
EKF: Fix bugs preventing use of range finder as primary height source

Flight testing completed and I have checked that the other pending PR #75 rebases cleanly on it.
 2016-03-14 09:46:58 +11:00
Paul Riseborough 49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00