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Code Pull Requests Activity
712 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

40 Commits

Author SHA1 Message Date
Paul Riseborough a02a046f5e EKF: Clean up auto-code files for body frame velocity measurements 2017-03-06 09:01:46 +11:00
Paul Riseborough e569578cf9 EKF: add derivation for body frame velocity measurements 2017-03-04 15:32:10 +11:00
Paul Riseborough eff9af549f scripts: derive conversion from polar to cartesian wind state covariance 2016-08-11 15:26:21 +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 0cc0008927 Merge pull request #166 from georgehines/matlab-log-import 
add double support
 2016-06-30 17:21:37 +10:00
George Hines f467e714bd add double support 2016-06-23 09:24:11 -07:00
Paul Riseborough a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough 6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Paul Riseborough a189c60d33 EKF: update code fragment text files 2016-05-05 21:23:03 +10:00
Paul Riseborough 57d3036ee7 EKF: update derivation files 2016-05-05 21:23:03 +10:00
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough 6ecbefd7e4 EKF: add matlab script to test complementary filter gains 2016-04-30 11:05:03 +10:00
George Hines 9994aa7fdb fix a field name that I missed last time 2016-04-22 17:21:47 -07:00
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
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
George Hines 684b41494e adds estimator log viewer UI 2016-04-07 15:13:19 -07:00
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
Paul Riseborough c6bd93ed40 EKF: Include all output files generated by derivation script 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
Paul Riseborough e9ccfdd484 EKF: Update derivation scripts and outputs 
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
 2016-03-11 11:03:43 +11:00
Paul Riseborough ea29e39e5b EKF: Updated derivation of Jacobians for direct heading measurement 
Adds an alternative using a 312 Euler sequence.
 2016-03-01 15:21:36 +11:00
Paul Riseborough 70a3b91217 EKF: Update magnetometer fusion derivations 2016-02-20 20:09:15 +11:00
Paul Riseborough d8afca5e7a EKF derivations: Correct error in direct yaw and declination angle fusion 
The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
 2016-02-16 11:08:30 +11:00
Paul Riseborough a22886544d EKF: Add missing Kalman gain to Declination fusion autocode 2016-02-08 14:02:08 +11:00
Paul Riseborough 42a943b37e EKF: Fix text errors introduced when editing optical flow fusion autocode fragment 2016-02-07 21:49:50 +11:00
Paul Riseborough 384ce06110 EKF: Add alternative code fragments for optical flow fusion 
These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
 2016-02-07 19:31:13 +11:00
Paul Riseborough dba462b9f3 EKF: Improve efficiency of optical flow fusion auto generated code fragments 2016-02-07 19:29:49 +11:00
Paul Riseborough 83079e0e11 Inertial Nav EKF: add notes on use of generated code 2015-11-04 17:05:23 +11:00
Paul Riseborough b92c99073e Update read 2015-11-03 12:29:55 +11:00
Paul Riseborough 06e9d73268 Add derivation script files for inertial nav EKF 2015-11-03 12:24:43 +11:00
Paul Riseborough b3bd09d5b9 Rename directory 2015-11-03 12:24:25 +11:00
Paul Riseborough af6a196187 Add generated code for 24 state Nav Filter 2015-11-03 12:17:02 +11:00
Lorenz Meier 363b7d8c36 Adding blank folders and instructions 2015-10-27 11:12:05 +01:00