px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	a2dcd5b9b6	EKF: Consolidate no aiding reset logic	7 years ago
Paul Riseborough	929c5c2b37	EKF: enable gps fusion flag to be false while fusing air data	7 years ago
Paul Riseborough	204a218ee6	EKF: Allow dead-reckoning using air data	7 years ago
ChristophTobler	f5fd90533a	fix gps and flow flag handling gps flag was not turning false if there was flow only reset states if we were relying on that sensor only	7 years ago
CarlOlsson	c81cdfa1ce	EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	7 years ago
Paul Riseborough	6f7f05fdc0	EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place	7 years ago
Paul Riseborough	7b4c957ad4	ekf2: Add new mag fusion mode Adds a mode where mag fusion is only used update the field estimates	7 years ago
Paul Riseborough	1119a9b0ac	EKF: Enable optical flow reversion to work if flow data is lost Also improve reporting.	7 years ago
ChristophTobler	b7e589b98a	EKF: only fuse optical flow if terrain is valid	7 years ago
CarlOlsson	0a7c3ecbc6	EKF: Parameterize maximum angle for rng fusion	8 years ago
Paul Riseborough	1d3e8edc46	EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation	8 years ago
Paul Riseborough	dd5b8525c3	EKF: Use hamiltonian convention for quaternion product order	8 years ago
Daniel Agar	99ba1c3745	EKF trivial code style cleanup	8 years ago
ChristophTobler	7252284628	Add check for stuck range finder measurements	8 years ago
Paul Riseborough	ce806768b7	EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing	8 years ago
Paul Riseborough	e08da1c599	EKF: Add ability to use EV and GPS data together Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.	8 years ago
Paul Riseborough	e1fe5b2229	Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""	8 years ago
Paul Riseborough	c887b02f21	Revert "Split get_terrain_vert_pos() into valid and get_vpos"	8 years ago
ChristophTobler	e429ecab17	check if terrain valid instead of initialized	8 years ago
ChristophTobler	517fe8a71f	rng aid: use hysteresis with lower hagl check	8 years ago
ChristophTobler	8ed61ac052	init rng offset with ground clearance param when on ground to avoid noisy init	8 years ago
Paul Riseborough	9ee35e38df	EKF: Don't fallback when optical flow is lost if external vision data is being used	8 years ago
Paul Riseborough	1bb576c197	EKF: Allow fallback to non-aiding mode if external vision is lost.	8 years ago
Isaac	f96685267e	Fixed vision position fusion bug	8 years ago
Paul Riseborough	ec2b54fde7	EKF: Ensure normal yaw alignment using mag is performed if GPS method is not	8 years ago
Paul Riseborough	d446f66105	EKF: Add a fixed wing mode with setter function	8 years ago
Paul Riseborough	f064915889	EKF: Enable planes to recover from bad mag data at start of flight Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.	8 years ago
Paul Riseborough	59edccca4a	EKF: Fix bug in wind estimation for fixed wing	8 years ago
Paul Riseborough	ba4a311771	EKF: Update comments for wind estimation logic	8 years ago
ChristophTobler	e1274ad28a	move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available	8 years ago
ChristophTobler	0d9e535acb	Use baro if reset to baro from gps and vice versa	8 years ago
ChristophTobler	4a4b0fa604	remove setting rng faulty in ev mode because not checked	8 years ago
ChristophTobler	066c641d61	range aid: switch to baro/gps even if rng aid conditions met and rng faulty	8 years ago
ChristophTobler	2f382c8e0e	if hgt mode is range, switch to baro if range is faulty	8 years ago
ChristophTobler	e4f36215cb	if in range aid mode, check faultiness that otherwise would never change back	8 years ago
ChristophTobler	e800de88b6	remove duplicate	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
ChristophTobler	1fed209804	fix formatting	8 years ago
Roman	5036967343	barometer does not special height sensor offset because a barometer offset from the local origin is calculated if the primary source for height is not baro Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	c5d464b821	make range sensor height offset computation more robust - when switching to range finder use the current terrain estimate as height sensor offset, otherwise spikes in the range measurements could lead to a wrong offset Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	182ea43445	fixed baro offset calculation - do not subtract the height sensor offset variable when computing the baro offset from the local origin. The baro height offset is calculated when baro is not fused and so the height sensor offset used in that case is associated to another sensor and has nothing to do with the baro. Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	39983a7d55	range aid: added hysteresis for switching in and out of range aid - prevents rapid switching - added innovation consistency check for using range aid Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	3778f0921a	ekf: enable range finder to be used for estimating height even if it's not the primary height source - moved height control into single function in order to decide which sensor should be used for estimating height - under certain conditions allow to use the range finder to estimate height even if it's not the primary height source - fixed a bug where the delta time for the baro offset calculation was always zero - use methods to set height control flags to reduce code duplication and to prevent bugs Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	36bffd2571	ekf: calculate the delta time between consecutive baro measurments (used for calculating filtered baro offset when primary height source is not baro) Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
CarlOlsson	a1308482fd	EKF: Reset the mag states to the field state variance when switching from the inhibit mag mode to standard mode	8 years ago
CarlOlsson	be16406b35	EKF: Add feature to use the mag to only update the mag states	8 years ago
Paul Riseborough	05c3c46f83	ekf2: changes arising from code review	8 years ago
Paul Riseborough	394dd95cba	EKF: Don't do magnetic field estimation without earth frame measurements Use horizontal acceleration to check if yaw is observable independent of the magnetometer. Use rotation about the vertical to check if mag raises are observable. If neither yaw of mag biases are observable, save the magnetic field variances and switch to magnetic yaw fusion. Use the last learned declination when using magnetic yaw fusion so that the yaw reference remains consistent. When yaw or biases become observable, reinstate the saved variances and switch back to 3D mag fusion.	8 years ago
Paul Riseborough	5ee0ed5a0d	EKF: Increase sensitivity and add tuning of bad accel checks	8 years ago
Paul Riseborough	3758c5a09d	EKF: down-sample drag specific force data	8 years ago

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344 Commits (0fa7ef3517aefaa2a54625bcb8c08d870a0e7c1a)