px4_autopilot

Commit Graph

Author	SHA1	Message	Date
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	370f643f42	EKF: Enable use of range finder for primary height source	9 years ago
Paul Riseborough	e0fcce1463	EKF: Make position and velocity reset publish success Some users of the position and velocity reset functions will need to know if the reset has been successful.	9 years ago
Paul Riseborough	dca186c6e8	EKF: Add required declarations for optical flow	9 years ago
Paul Riseborough	5242af84af	EKF: Standardise covariance update and use static arrays for large matrices	9 years ago
Paul Riseborough	d5e47d21db	EKF: miscellaneous comment and format changes	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
mcsauder	6613335937	Added constexpr back from const var type.	9 years ago
mcsauder	a4cecb1704	Match variable initialization order difference with upstream.	9 years ago
mcsauder	6c96f45f08	Remove whitespace differences with upstream for pull request.	9 years ago
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.	9 years ago
mcsauder	437f6ca5fb	Moved initialization to object constructors to allow C99 compiler compatibility.	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	9 years ago
Paul Riseborough	d9bf4e9870	EKF: Enable control mode transitions to be detected Save the previous value of the filter control modes	9 years ago
Paul Riseborough	de02aebafd	EKF: Reset covariance matrix when doing a yaw and magnetic field reset The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed	9 years ago
Paul Riseborough	83945581ed	EKF: Add function to calculate the magnetic declination to use	9 years ago
Paul Riseborough	6140d4b21f	EKF: Add function to reset yaw and magnetic field states	9 years ago
Roman	ce0ddc0207	-added comments -removed unused print functions -removed false _imu_time_last variable (correct is _time_last_imu)	9 years ago
Paul Riseborough	fff2bd50f6	EKF: Fix bugs in position and velocity resets The position reset was not being compensated for velocity and measurement delay The height was being reset with the position. It has been moved into a separate reset function The maximum accepted GPS delay of 100msec was inadequate The states was being incorrectly reset to the GPS position and Baro height on initial alignment.	9 years ago
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	9 years ago
Paul Riseborough	47ab5ebcdd	EKF: Make PR comply with project convention for indenting	9 years ago
Paul Riseborough	dbb8e12948	EKF: Add fusion method to constrain declination when unobservable When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.	9 years ago
Paul Riseborough	2c8c6efb45	EKF: Eliminate use of power function to square numbers Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.	9 years ago
Roman	b749a7557b	fixed typos	9 years ago
bugobliterator	d79e12dfa1	EKF: fix code style	9 years ago
bugobliterator	c6249a2825	EKF: change estimator base class name to estimation interface	9 years ago
bugobliterator	b062bd2e38	EKF: move estimator specific variables to estimator core	9 years ago
bugobliterator	287f5eb0c2	EKF: move all estimator specific types to common header	9 years ago
bugobliterator	b05e2d825c	EKF: move estimator specific initialisations to estimator core	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	001d621eb1	EKF: move imu data processing code to estimator core	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	802129f384	EKF: Add magnetometer fusion error handling	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	5e5d6f432a	added static gps mode and init mag state correctly	9 years ago
Roman Bapst	d233ca3990	added complementary filter for real time state estimation	9 years ago
Roman Bapst	67646a15b0	added full mag fusion	9 years ago
Roman	8de8b0eb76	prediction and vel pos heading fusion working	9 years ago
Roman	cfc39bc2f9	implemented prediction of states and covariance matrix	9 years ago
Roman Bapst	144aa9c461	added base class for data storage	9 years ago
Lorenz Meier	e5743d503c	Initial import	9 years ago

45 Commits (0918fa04c740f0ebb4ee384c157325259ba7b4b2)