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px4-firmware
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1,184 Commits 514 Branches 136 Tags 234 MiB
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1184 Commits

Author SHA1 Message Date
Andreas Antener 9e16e51d3a attitude_fw: constrain integrator properly to prevent building it up over the specified maximum 2018-01-13 16:17:01 +01:00
Daniel Agar c8ab806120 EKF pytest temporarily disable 2018-01-05 02:39:02 -05:00
Daniel Agar ae641020dd EKF run pytest quick and plot 2018-01-05 02:39:02 -05:00
Daniel Agar ec0d907d5a update README build badge (travis-ci -> jenkins) 2018-01-05 02:39:02 -05:00
Daniel Agar 7df4e0f8eb reenable pytest with px4-dev-ecl 2018-01-05 02:39:02 -05:00
Daniel Agar f407954207 initial jenkins configuration 2018-01-05 02:39:02 -05:00
Lorenz Meier dd9ea86fd6
Update README.md 
Added link to tuning guide.
 2018-01-04 08:50:34 +01:00
Paul Riseborough 76763adb5c
Merge pull request #374 from PX4/pr-ekfInitFix 
EKF: Prevent possible /0 due to incorrect initial values
 2018-01-04 08:15:08 +11:00
Paul Riseborough 0f047504d4 EKF: Prevent possible div 0 due to incorrect initial values 
Gate size class variables should not be initialised to zero, because it will cause a /0 error if fuseVelPosHeight() is called before they are set to their respective parameter values.
 2018-01-04 07:47:03 +11:00
Daniel Agar f0862210c7 EKF initialize _hvelInnovGate 
- fixes CID 139550
 2018-01-03 08:07:28 +01:00
Paul Riseborough bdbc05cf91
Merge pull request #372 from PX4/pr-tecs_init 
TECS initialize throttle integrator at cruise if in air
 2017-12-28 09:09:14 +11:00
Paul Riseborough a39c376c26
Merge pull request #371 from CarlOlsson/pr-push_beta_test_ratio 
ekf: return beta test ratio in get_innovation_test_status
 2017-12-28 08:29:15 +11:00
Daniel Agar 8320c8ba14
TECS initialize throttle integrator at cruise if in air 2017-12-21 16:29:14 -05:00
CarlOlsson 5c8b22b43f ekf: return beta test ratio in get_innovation_test_status 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-12-18 15:48:36 +01:00
Paul Riseborough e70206f74b EKF: Release flow speed limit with altitude gained 
When GPS use is gained whilst flying using optical flow data, the sudden release of the speed limit is unannounced to  the operator and can cause unexpected acceleration.
This patch releases the speed limit as height is gained, but does not reduce it when the vehicle descends, unless GPS use is lost.
 2017-12-12 01:26:44 +00:00
CarlOlsson dea0c8bb6a tecs: fixed some typos 2017-12-08 00:31:12 -05:00
Paul Riseborough 83b765f707 EKF: Don't print navigation lost message on startup 2017-12-03 23:02:02 +00:00
Daniel Agar e3da71c89d Ekf initialize all fields 2017-11-26 16:50:16 -05:00
Andreas Antener ee57908911 Provide access to FW integrators 2017-11-26 15:33:34 +01:00
Paul Riseborough 22a6abbca2
Merge pull request #365 from PX4/pr-ekfBugFix 
EKF: Fix vel pos innovation handling bug
 2017-11-24 14:46:11 +11:00
Paul Riseborough 89be63d6c2 EKF: Fix vel pos innovation logging bug 2017-11-24 14:25:44 +11:00
Paul Riseborough 882f4d44e5
Merge pull request #362 from PX4/pr-ekfAuxVelFuse 
EKF: Add additional velocity interface to use landing beacon data
 2017-11-21 11:55:43 +11:00
Paul Riseborough b0ad8269a5 EKF: enable separate monitoring of aux velocity innovations 2017-11-21 11:18:09 +11:00
Paul Riseborough 2a57fd858d EKF: clean up reset of fusion flags 2017-11-21 11:18:09 +11:00
Paul Riseborough 8e30c2666d EKF: Add support auxiliary velocity observation 
This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
 2017-11-21 11:18:09 +11:00
Paul Riseborough bd8f30752a
Merge pull request #351 from PX4/ekfGndEffectComp-wip 
EKF: Protect against ground effect induced static pressure rise
 2017-11-20 09:14:26 +11:00
Paul Riseborough a2b24fa960 EKF: Protect against ground effect induced static pressure rise during landing and takeoff. 
Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
 2017-11-17 21:41:31 +11:00
Paul Riseborough c8d459eecd
Merge pull request #360 from dagar/pr-ekfObsBufAlloc 
EKF RingBuffer allocation minor improvements + print memory usage
 2017-11-17 08:38:57 +11:00
Paul Riseborough 3479542ae5
Merge pull request #359 from PX4/pr-ekfObsBufAlloc 
EKF: Reduce memory usage
 2017-11-17 08:09:37 +11:00
Daniel Agar d9c8af54bd
EKF add print_status() with memory usage 2017-11-16 14:11:34 -05:00
Daniel Agar 75d1ed894c
EKF simplify RingBuffer allocation check 2017-11-16 13:09:17 -05:00
Paul Riseborough af7004ef01 EKF: report observation buffer allocation errors 2017-11-16 20:04:46 +11:00
Paul Riseborough d785a19c0a EKF: delay final allocation of observation buffers until required 2017-11-16 19:47:04 +11:00
Paul Riseborough f54f1d467f
Merge pull request #358 from PX4/pr-ringbuffer_copies 
EKF RingBuffer avoid unnecessary copying
 2017-11-16 13:37:36 +11:00
Paul Riseborough 7c8fcf7628 EKF: Clarify use of *= operator for quaternions 2017-11-16 11:52:19 +11:00
Daniel Agar ed9a394029
EKF RingBuffer avoid copying 2017-11-15 18:08:51 -05:00
Paul Riseborough 44eaa076db
Merge pull request #356 from PX4/pr-ekfMiscUpdate 
EKF: Remove redundant code
 2017-11-16 07:05:18 +11:00
Paul Riseborough 2b20c52c4d EKF: Remove redundant code 2017-11-15 22:03:17 +11:00
Paul Riseborough cfdab732d1 EKF: Update parameter description 2017-11-15 21:28:11 +11:00
Paul Riseborough 16154423c8 matlab: update optical flow derivation 
Support use of sensors with arbitrary orientation in body frame
 2017-11-15 11:16:19 +11:00
Paul Riseborough cc651ac472
Merge pull request #354 from PX4/ekfMagYawReset-wip 
Prevent loss of navigation accuracy after in-flight mag yaw alignment
 2017-11-13 07:32:23 +11:00
Paul Riseborough 72a7ab2c25 EKF: Improve resistance to bad initial mag offset 
When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
 2017-11-13 07:05:56 +11:00
Paul Riseborough df9f48d2d3 EKF: Fix build error 2017-11-13 07:05:56 +11:00
Paul Riseborough 44c50ab2df EKF: Correct magnetic yaw measurement using learned mag biases 
Don't apply bias corrections when biases are being learned to avoid possible circular data dependency.
 2017-11-13 07:05:56 +11:00
Paul Riseborough c70363c501 EKF: Don't fuse heading if FW and waiting for mag states to stabilise 
Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
 2017-11-13 07:05:56 +11:00
Paul Riseborough 279fc836f7 EKF: Always reset covariance matrix terms when doing vel pos state reset 
If state errors were large before the reset, then failure to reset the covariance matrix terms can result in incorrect fusion of position and velocity measurements after the reset due to inconsistencies in the covariance matrix.
 2017-11-13 07:05:56 +11:00
Paul Riseborough 141264fe63 EKF: Add method to set diagonals in covariance matrix 2017-11-13 07:05:56 +11:00
Paul Riseborough 32de90b9ef EKF: Add method to zero covariance terms 2017-11-13 07:05:56 +11:00
Paul Riseborough f3e34eddc9 EKF: do not attempt to align FW yaw using GPS method if on ground 2017-11-13 07:05:56 +11:00
Paul Riseborough 8f27d3fc54 EKF: don't reset quaternion states unnecessarily 
When performing the initial in-flight mag yaw reset for RW vehicle, do not reset the quaternion states and corresponding variances unless there has been a change in yaw angle large enough to cause problems with navigation.
This is because the state estimates after a reset are more vulnerable to transient sensor errors, so a reset should be avoided if possible.
 2017-11-13 07:05:56 +11:00