px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Youssef Demitri	168d9add76	added getter function for wind states	9 years ago
Beat Küng	73b8ac954d	ekf_helper.cpp: remove unused includes This fixes a compile error with GCC 5.2.0 and cross-compilation: /usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope not_supported = ENOTSUP, The problem was that the #include <iomanip> was taken from the host system, which conflicts with includes from NuttX (NuttX has only basic C++ STL support)	9 years ago
Lucas De Marchi	2240eb6b4f	Move __STDC_FORMAT_MACROS to build system (#174 ) __STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow defining format macros for printf-like functions. It needs to be defined before any include is done, otherwise due to include chains and header guards it may not take effect. Instead of defining it everywhere it is used, let the PX4 build system to deal with it.	9 years ago
georgehines	4f8ffb3420	promote to float (for internal representation) before scaling by format multiplier (#175 )	9 years ago
Paul Riseborough	a2d866520a	EKF: perform innovation check in all axes before fusing 3D mag data (#171 ) Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.	9 years ago
Beat Küng	5e0a229ee8	data_validator cleanup: use dimensions variable, use static for some constants (#167 )	9 years ago
Paul Riseborough	0cc0008927	Merge pull request #166 from georgehines/matlab-log-import add double support	9 years ago
Paul Riseborough	eaae95fdc4	Merge pull request #160 from priseborough/pr-ekf2Improvements EKF: clean up fusion control logic	9 years ago
Paul Riseborough	f5e9ea1626	EKF: Prevent potential divide by zero	9 years ago
Paul Riseborough	eb2afc522d	EKF: fix bug preventing use of baro as a backup height source	9 years ago
Paul Riseborough	573f252b73	EKF: fix bug preventing GPS use as a backup height source	9 years ago
Paul Riseborough	5f9752cac8	EKF: Improve function names	9 years ago
Paul Riseborough	7bc9217f00	EKF: Clean up control of observation fusion All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon. Information and warning messages are improved.	9 years ago
Beat Küng	9a95898414	gps_message: remove time_usec_vel from struct (unused)	9 years ago
George Hines	f467e714bd	add double support	9 years ago
Roman Bapst	1b394460a3	fix comment about filter bias states Signed-off-by: Roman Bapst <roman@px4.io>	9 years ago
Roman Bapst	bec1a6831e	added method to get gyro bias Signed-off-by: Roman Bapst <roman@px4.io>	9 years ago
Lorenz Meier	74a77b45b2	Add DOI	9 years ago
Paul Riseborough	16bdbebdc6	Merge pull request #161 from PX4/pr-resetFix do not return early in velocity reset method	9 years ago
Roman	703fb4e31b	do not return early in velocity reset method otherwise some code will not be executed	9 years ago
Paul Riseborough	928a7dd059	Merge pull request #157 from PX4/pr-ekf2ResetInterface Change state reset information interface	9 years ago
Paul Riseborough	2024252d65	Merge pull request #158 from CarlOlsson/act_ars_off_by_default activate tas fusion, off by default	9 years ago
Paul Riseborough	e72788bd0f	Merge pull request #159 from priseborough/pr-ekf2MagBugFix EKF: Fix critical bugs in mag fusion and yaw reset	9 years ago
Paul Riseborough	f26aca55a1	EKF: Fix bug in quaternion covariance initialisation function The covariances between quaternion and non-quaternion states were not being updated	9 years ago
Paul Riseborough	b3baab64f2	EKF: Updates to 3-axis mag fusion auto-code The code fragments for the magnetometer fusion have been refreshed from the auto-coder. Explicit floating point types used for constants. The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.	9 years ago
Paul Riseborough	21168f9929	EKF: fix bug in 3-axis mag fusion innovation test The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement	9 years ago
Paul Riseborough	99b34f0df4	EKF: Only reset necessary terms when mag fusion covariance reset required Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.	9 years ago
Paul Riseborough	381d99aed6	EKF: Inform console of serious fusion numerical errors	9 years ago
Paul Riseborough	dbfe8c0242	EKF: remove approximation in mag fusion innovation variance calculation The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.	9 years ago
Paul Riseborough	79228352e9	EKF: Reset mag and wind state variances to 'reasonable' values If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery	9 years ago
Paul Riseborough	34ffffa021	EKF: Prevent use of non time-stamped invalid data during initialisation Fixes bad height initialisation seen intermittently with snapdragon	9 years ago
CarlOlsson	eded0a8f7e	activate tas fusion, off by default	9 years ago
Paul Riseborough	3c84d37175	Merge pull request #156 from PX4/fix_printfs EKF: use ECL printfs everywhere	9 years ago
Paul Riseborough	081e17729c	EKF: delay commencement of 3D mag fusion until clear of ground Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.	9 years ago
Roman Bapst	670c6ca019	change state reset information interface for more convenient handling on firmware side	9 years ago
Paul Riseborough	f08aee0a7d	EKF: Fix covariance index bug	9 years ago
Julian Oes	ab0ac05b47	ecl.h: guard PX4 defines with ifdef	9 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	8bfdb0430c	Merge pull request #150 from PX4/pr-ekf2StatusReporting EKF: Publish full reset and innovation consistency check status data	9 years ago
Paul Riseborough	6a55d908c5	EKF: replace reset event times with event counters Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.	9 years ago
Paul Riseborough	70f76e1a6c	EKF: publish innovation consistency check fail status	9 years ago
Paul Riseborough	e371a303a9	EKF: publish the quaternion reset event	9 years ago
Paul Riseborough	81ca167da8	EKF: align output observer to EKF states on startup	9 years ago
Paul Riseborough	3ec9221c18	EKF: update output observer and capture reset event for EV yaw resets	9 years ago
Paul Riseborough	9ec09f5f4e	EKF: update output observer and capture reset event for magnetic heading resets	9 years ago
Paul Riseborough	2b0d5c28f0	EKF: capture full quaternion change for reset events	9 years ago
Paul Riseborough	b2e432e211	EKF: publish position and velocity reset data	9 years ago
Paul Riseborough	733862f649	EKF: move the reset status struct to the Ekf class This protects it from being modified externally	9 years ago
Paul Riseborough	aca0336392	EKF: update vertical position and velocity reset capture Use reset event struct members instead of separate variables	9 years ago

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557 Commits (168d9add76f94c910d1930b58abb455bf2739c8a) All Branches Search

557 Commits (168d9add76f94c910d1930b58abb455bf2739c8a)

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