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1,218 Commits 514 Branches 136 Tags 234 MiB
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148 Commits

Author SHA1 Message Date
Paul Riseborough 310bd97080 EKF: Improve protection against bad pos vel fusion 2016-05-07 14:22:59 +10:00
Paul Riseborough d9aeace6ac EKF: tuning update 2016-05-05 21:23:03 +10:00
Paul Riseborough 1daa6c7866 EKF: update tuning defaults 2016-05-05 21:23:03 +10:00
Paul Riseborough fc6c0c7ebf EKF: Update covariance prediction 
Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
 2016-05-05 21:23:03 +10:00
Paul Riseborough ecaffe63af EKF: update tuning defaults 2016-05-05 21:23:03 +10:00
Paul Riseborough 29a361d3a3 EKF: Use intuitive units for gyro and accel bias process noise 
This also makes the tuning less sensitive to changes in the EKF update rate.
 2016-05-05 21:23:03 +10:00
Paul Riseborough 799865c934 EKF: update default tuning parameters 2016-05-05 21:23:03 +10:00
Paul Riseborough 311d046a26 EKF: Enable optional activation of XY delta velocity bias estimation 2016-05-05 21:23:03 +10:00
Paul Riseborough 67d23948b5 EKF: preliminary re-tune 2016-05-05 21:23:03 +10:00
Paul Riseborough 03c35266ef EKF: remove unused parameter 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 e3365525c2 EKF: rework height reset logic 2016-04-22 08:39:24 +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
Lorenz Meier 3455931617 EKF init: Fix initialization statement 2016-04-17 19:29:23 +02:00
Paul Riseborough ea38aa130f EKF: update default time delay parameter values 2016-04-14 08:53:59 +10:00
Paul Riseborough b46053415f EKF: Compensate optical flow data for sensor 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 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
CarlOlsson 1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00
CarlOlsson f990d99790 fixed bug 2016-03-30 17:01:03 +02:00
CarlOlsson 92abf93c8f adopted common.h 2016-03-30 17:01:03 +02:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough eab0ef4266 EKF: Update default process noise for terrain estimator 2016-03-11 11:03:43 +11:00
Paul Riseborough 962fd0aaf2 EKF: Adjust terrain process noise for gradient effect 2016-03-11 11:03:43 +11:00
Paul Riseborough 5acd1cbac4 EKF: Make definitions of parameters clearer for external use 2016-03-11 11:03:43 +11:00
Paul Riseborough b3b0f1347a EKF: Make normal GPS mode the default 2016-03-11 11:03:43 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough 57d4064d7b EKF: Increase default heading observation noise 
Improves robustness when operating in a bad magnetic field environment
 2016-03-01 15:28:53 +11:00
Paul Riseborough f55a0bff53 EKF: Fix code style 2016-02-25 08:17:50 +11:00
mcsauder f9f00fa52b Remove unnecessary include. 2016-02-23 14:00:39 -07:00
mcsauder 79d07c831f Convert spaces to tabs to match upstream. 2016-02-23 19:53:55 -07:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
Paul Riseborough a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
mcsauder 72243c4a84 Resolve tab/space differences with upstream master. 2016-02-18 03:28:40 -07:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
Paul Riseborough a679cdf1fb EKF: Change parameter default to not fuse declination when aiding 
Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
 2016-02-17 17:22:02 +11:00
Paul Riseborough 7da40a45a4 EKF: Add control mode for wind state estimation 2016-02-16 11:08:30 +11:00
Paul Riseborough aa58b3e98c EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function 2016-02-14 22:01:53 +01:00
Paul Riseborough 0308f2f796 EKF: Add parameters to control declination source and fusion type 2016-02-14 22:01:53 +01:00
Roman ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough 47ab5ebcdd EKF: Make PR comply with project convention for indenting 2016-02-08 15:12:38 +11:00
Paul Riseborough 6aeccf01ff EKF: Add missing fusion health status messages 2016-02-08 14:18:43 +11:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Paul Riseborough 9bfc11b660 EKF: Use specific position observation noise when flying without GPS 
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
 2016-02-03 18:40:32 +11:00
Paul Riseborough 2b1e8fe910 EKF: Update tuning parameters 
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
 2016-02-03 17:05:45 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator 287f5eb0c2 EKF: move all estimator specific types to common header 2016-01-30 12:44:19 -08:00