px4_autopilot

Commit Graph

Author	SHA1	Message	Date
kamilritz	1bf09fd370	Remove EKF prefix from logged messages	5 years ago
kamilritz	88c4929c96	Use helper function to switch to gps height	5 years ago
kamilritz	042d9b6615	Remove dangerous _primary_hgt_source variable	5 years ago
bresch	6b5f011bc2	ekf: use PDOP instead of GDOP as the TDOP (part of GDOP) is usually not available PDOP is the position dillution of precision and is given by sqrt(VDOP^2+HDOP^2)	5 years ago
kritz	4a38f5a2f6	Add timestamp to ECL print statements, (#644 ) which is helpful for EKF replay debugging.	5 years ago
kamilritz	1e57c4bbec	Fix white space	5 years ago
kamilritz	4511b9ff5e	Add missing checks for flags.ev_vel	5 years ago
Paul Riseborough	7612fa40ed	EKF: Don't start using GPS for height until all validity checks have passed Consolidate intermittent data checks, improve variable and clarify usage.	6 years ago
Beat Küng	54ac147ae8	Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time This does not change the default of 10 seconds.	6 years ago
Carl Olsson	f0889c1760	EKF: fixed some comment typos Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	6 years ago
Daniel Agar	c66f7f4a09	EKF drop unused timestamp from collect_gps() and pass data by const reference	6 years ago
Paul Riseborough	3accab1ac5	EKF: protect declination fusion from badly conditioned earth field estimates Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign. EKF: Move declination state limiting into a separate function EKF: Limit NE mag states after each 3-axis mag fusion EKF: Fix bug in mag field strength look-up scale factor	6 years ago
Paul Riseborough	4657a9cd21	EKF: Ensure yaw gets reset when declination is set	6 years ago
Paul Riseborough	35f628e68f	EKF: Add interface to enable logging of GPS drift metrics (#490 ) * EKF: Add interface to enable logging of GPS drift metrics * EKF: Fix bug affecting rate of GPS drift publication Also fix variable name.	7 years ago
Paul Riseborough	4d01883f75	EKF: Disable GPS drift checks when the vehicle is moving.	7 years ago
Paul Riseborough	99a80387ed	EKF: improve optical flow GPS quality checking	7 years ago
Paul Riseborough	7f36add241	EKF: scale GPS vertical accuracy check when using optical flow	7 years ago
Paul Riseborough	84516760c0	EKF: Use stricter GPS accuracy test when optical flow is being used This adds some hysteresis to the automated optical flow selection and also reduces likelihood of bad GPS being used when operating indoors,	7 years ago
Paul Riseborough	4ab78230e6	EKF: Add persistence criteria to GPS fail check	7 years ago
Paul Riseborough	bd59e381db	EKF: always run GPS checks	7 years ago
Daniel Agar	c5b2f59f57	PX4 style fixes (excluding EKF generated code)	7 years ago
Daniel Agar	cd12f049fe	move geo and geo_lookup from PX4 Firmware to ECL	7 years ago
ChristophTobler	e388e59f32	EKF: use uint64_t cast for XeY to avoid float casting of variables The default type for XeY is float	7 years ago
Paul Riseborough	3ee6898710	EKF: Enable origin to be maintained when starting aiding using EV only When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.	8 years ago
Paul Riseborough	0d7e7e9d81	EKF: Don't use EKF origin in GPS drift check calculation The GPS drift calculations need to be able to run independently of the EKF origin.	8 years ago
Paul Riseborough	710b2bcb9f	EKF: Do not move EKF origin when performing GPS checks Doing so can casue large jumps in GPS position and innovation check errors after landing and also reduces the effectiveness of pre-flight innovation consistency checks.	8 years ago
Paul Riseborough	a1ff219380	EKF: Extend range of conditions over which we run GPS quality checks Previously GPS quality checks were only run until the EKF origin was set. This meant that they could not be used by other pre-flight checks. This change ensures that checks will always be run when the vehicle on-ground or not using GPS to enable use by external preflight checks.	8 years ago
Daniel Agar	2750961be6	c++11 initialization cleanup (#237 )	8 years ago
Daniel Agar	7883085e4a	clang-tidy readability-simplify-boolean-expr (#235 )	8 years ago
Paul Riseborough	3c4c09593f	EKF: Rationalise console messages Combine the observation action buffer and alignment messages Ensure all data timeout messages are warnings. Use consistent terminology.	8 years ago
Julian Oes	b8e2f79005	EKF: correct include paths	9 years ago
Julian Oes	ecfd8c867a	EKF: use ECL printfs everywhere - Changes all printfs to ECL printfs - Add ECL_ERR. - Include ecl.h where needed. - Add forgotten pragma once.	9 years ago
Paul Riseborough	481c624975	EKF: Remove use of vehicle arm status Use single externally set in-air status for all decisions	9 years ago
Daniel Agar	22d18d638c	enable Wshadow	9 years ago
Paul Riseborough	687fcc70be	EKF: Explicitly define type conversion for GPS height	9 years ago
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	9 years ago
Paul Riseborough	d2407c3463	EKF: code style updates	9 years ago
Paul Riseborough	26238bc2f5	EKF: Allow for change in position when defining the WGS-84 origin position This allows GPS aiding to commence later in flight without step changes in local position output	9 years ago
Paul Riseborough	cd0cac066a	EKF: Calculate and publish horizontal and vertical position accuracy This calculation takes into account the uncertainty of the origin. Dead reckoning status is also published	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	9 years ago
Paul Riseborough	83945581ed	EKF: Add function to calculate the magnetic declination to use	9 years ago
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	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
bugobliterator	d79e12dfa1	EKF: fix code style	9 years ago
Paul Riseborough	466a104534	EKF: additional GPS check logic Improve naming of NED origin initialisation status Add check for GPS solution type Use GPS checks when regaining GPs in-flight	9 years ago
bugobliterator	251996d387	ekf: move gps checks to Ekf library from estimator_base	9 years ago
Paul Riseborough	46b0e9654c	Add filter control logic	9 years ago
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.	9 years ago
Paul Riseborough	cc50d26601	EKF: Update comments	9 years ago
Paul Riseborough	6326433c47	EKF: Eliminate call to hrt_absolute_time() This will make the library more portable	9 years ago

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51 Commits (0831c158f24b0a85f436eb539129c550902c418e)