px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	00bada8f25	EKF: Clean up logic for horizontal position fusion Remove reference to optical flow fusion mode Simplify logic flow for selection of observation noise Remove unnecessary conditional statement	9 years ago
Paul Riseborough	6f412a73b4	EKF: Use correct height gate when using external vision	9 years ago
Carl Olsson	0fafc49a49	fixed typos (#147 )	9 years ago
Paul Riseborough	e272d5f003	EKF: Use consistent position noise values during alignment	9 years ago
Paul Riseborough	349c731375	EKF: remove PX4 dependant text output	9 years ago
Paul Riseborough	ac9b7a3df6	EKF: Ensure use of EV aiding inhibits use of other height sources	9 years ago
devbharat	d3bad9fdb0	Correct height fusion flag when using sensor other than baro	9 years ago
Paul Riseborough	25f1d1d766	EKF: Add fusion of external vision 3D pos data	9 years ago
Paul Riseborough	feb4db6347	EKF: protect against large IMU errors during initial tilt alignment Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned	9 years ago
Paul Riseborough	00973d6215	EKF: fix pos/vel fusion innovation variance bug	9 years ago
Paul Riseborough	020b87933e	EKF: replace fault status struct with a union to facilitate logging	9 years ago
Paul Riseborough	7f5669fb2d	EKF: consolidate covariance corrections Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function. This ensures a consistent correction is applied after every covariance prediction or correction.	9 years ago
Paul Riseborough	310bd97080	EKF: Improve protection against bad pos vel fusion	9 years ago
Paul Riseborough	727a43764f	EKF: update initial angle alignment check	9 years ago
Paul Riseborough	82da832816	EKF: tidy up Kalman gain calculations Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.	9 years ago
Paul Riseborough	fe9f88a8b4	EKF: test new derivation Use direct attitude parameterisation Discard scale factors Add accel bias	9 years ago
Daniel Agar	22d18d638c	enable Wshadow	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	064a0e4dbc	EKF: Don't use GPS to set position noise when not using GPS	9 years ago
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	9 years ago
Paul Riseborough	c58ab3e256	EKF: Enable fallback to baro alt when using range finder for height	9 years ago
Paul Riseborough	2ff338048d	EKF: Add support for range-finder fusion as primary height reference	9 years ago
Paul Riseborough	569886a4fc	EKF: Fix bug in velocity and position innovation consistency checks	9 years ago
Paul Riseborough	a30830a7a9	EKF: Scale position observation noise with GPS quality This allows the filter to adapt to variations in GPs quality. The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.	9 years ago
Paul Riseborough	f55a0bff53	EKF: Fix code style	9 years ago
Paul Riseborough	1d40507af8	EKF: Set Kaman gains to zero for un-used states This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.	9 years ago
CarlOlsson	1e766c7510	moved fuse function to ekf_helper.cpp	9 years ago
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	9 years ago
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).	9 years ago
Paul Riseborough	7de1d39ce4	EKF: Improve use of position and velocity observation noise parameters Fix bug where noise parameters were not being squared when calculating the observation variance. Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.	9 years ago
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.	9 years ago
Paul Riseborough	f1b82057c0	EKF: Combine GPS velocity innovation gate parameters Separate vertical and horizontal parameters for GPS velocity innovation gates are not required	9 years ago
Paul Riseborough	46b0e9654c	Add filter control logic	9 years ago
Paul Riseborough	9236f11c80	EKF: Add position and velocity innovation consistency checks	9 years ago
Roman	8d0022ab1e	enable estimator state and innovations data logging	9 years ago
Roman	f8354bb5e9	- do not fake vertical gps measurement as we have baro - formatting Conflicts: EKF/ekf.cpp	9 years ago
Roman	8de8b0eb76	prediction and vel pos heading fusion working	9 years ago

37 Commits (00bada8f25b6eef001f7d4d14c6f12e828470b86)