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927 Commits 514 Branches 136 Tags 234 MiB
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696 Commits

Author SHA1 Message Date
bugobliterator 92dc41e885 EKF: fix typo in function declaration 2016-01-29 20:05:07 -08:00
bugobliterator 3eea6cdcc5 EKF: use namespace for structure definitions 
will be moved to a separate file in the future
 2016-01-29 20:04:21 -08:00
bugobliterator 001d621eb1 EKF: move imu data processing code to estimator core 2016-01-29 20:03:25 -08:00
bugobliterator 251996d387 ekf: move gps checks to Ekf library from estimator_base 2016-01-29 17:15:18 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00
Paul Riseborough 9236f11c80 EKF: Add position and velocity innovation consistency checks 2016-01-28 16:33:54 +11:00
Paul Riseborough 7713cc8c20 Merge pull request #17 from priseborough/pr-addMagErrHandling 
EKF: Add magnetometer fusion error handling
 2016-01-28 13:43:57 +11:00
Lorenz Meier f4b2c0eecf Merge pull request #11 from mcharleb/PRIu64-fix 
Fixed printf of uint64_t
 2016-01-28 01:01:10 +01:00
Paul Riseborough 802129f384 EKF: Add magnetometer fusion error handling 2016-01-28 09:53:55 +11:00
Paul Riseborough 39eef3a2d7 EKF: Remove use of camel case variable names 
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
 2016-01-28 08:37:45 +11:00
Paul Riseborough cc50d26601 EKF: Update comments 2016-01-28 08:13:38 +11:00
Paul Riseborough 4526cb9c4f EKF: remove redundant variable 2016-01-28 07:50:45 +11:00
Paul Riseborough 6326433c47 EKF: Eliminate call to hrt_absolute_time() 
This will make the library more portable
 2016-01-27 19:04:31 +11:00
Paul Riseborough 94a6644684 Add comprehensive user selectable GPS checks 2016-01-25 13:07:57 +11:00
Roman 8d0022ab1e enable estimator state and innovations data logging 2016-01-22 11:31:14 +01:00
Roman 86df68e404 added interface for parameters 2016-01-22 10:45:03 +01:00
nickolasrossi dfbbd36ff7 fix buffer overflow in constrain of wind velocity 2016-01-19 18:25:22 -08:00
Mark Charlebois 79bf35c4b3 Fixed printf of uint64_t 
Must use PRIu64 to prevent compiler errors.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-18 22:19:10 -08:00
Roman 0b5c90574c fix delta angle bias usage: 
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
 2016-01-14 17:06:02 +01:00
Roman 2af5856361 initialise output height with baro 2016-01-08 06:59:10 +01:00
Roman a41f75ffb1 use full mag fusion 2016-01-08 06:59:10 +01:00
Roman f8354bb5e9 - do not fake vertical gps measurement as we have baro 
- formatting

Conflicts:
	EKF/ekf.cpp
 2016-01-08 06:59:10 +01:00
Roman 2a88fc6cfd initialise vertical position correctly 2016-01-08 06:42:22 +01:00
Roman 5aa5f7f8c3 use correct timestamp for measurements 2016-01-08 06:42:03 +01:00
Mark Charlebois b8837b4dc6 Added hexagon support 
std::to_string is not supported in the Hexagon complier

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-07 14:54:55 -08:00
Paul Riseborough edfb7aefcc EKF: Fix initial alignment errors 
Use the gravity vector to estimate the initial roll and pitch angle
Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading
 2016-01-03 00:03:03 +11:00
Lorenz Meier 52cb9d02c7 EKF: Initialize all local structs and variables 2016-01-01 12:31:36 +01:00
Paul Riseborough 0cb210d045 EKF: Changes required to enter POSCTL mode 2016-01-01 11:56:38 +11:00
Lorenz Meier eda69e727f Do not print states by default 2015-12-24 13:48:22 +01:00
Roman 457a57c6ff use simple heading fusion 2015-12-22 18:00:59 +01:00
Lorenz Meier 6b49e2495c Fix field initializers 2015-12-22 17:25:08 +01:00
Lorenz Meier 8894786752 Estimator base: Fix printf formatting 2015-12-22 17:24:58 +01:00
Lorenz Meier faf48242ed EKF: Fix ringbuffer warnings 2015-12-22 17:24:43 +01:00
Roman 5e5d6f432a added static gps mode and init mag state correctly 2015-12-22 11:22:17 +01:00
Roman f153a7cb44 added ifdef guard 2015-12-19 09:40:32 +01:00
Roman Bapst d233ca3990 added complementary filter for real time state estimation 2015-12-10 16:36:10 +01:00
Roman Bapst 67646a15b0 added full mag fusion 2015-12-10 09:07:00 +01:00
Roman 8de8b0eb76 prediction and vel pos heading fusion working 2015-12-09 17:47:52 +01:00
Roman 921df43d32 added tests for EKF ringbuffer 2015-12-07 22:41:11 +01:00
Roman d90c8fd7c2 fixed bug in covariance prediction 2015-12-07 22:41:11 +01:00
Roman cfc39bc2f9 implemented prediction of states and covariance matrix 2015-12-07 22:41:11 +01:00
Roman b52e38eb9d fix 2015-12-07 22:41:11 +01:00
Roman cd5db8f494 enhance ringbuffer 2015-12-06 17:07:44 +01:00
Roman b3491bcfc3 added file with ekf helper functions 2015-12-06 13:19:25 +01:00
Roman 859502753d added file with covariance calculations 2015-12-06 13:10:49 +01:00
Roman Bapst 144aa9c461 added base class for data storage 2015-12-05 11:08:06 +01:00