px4_autopilot

Commit Graph

Author	SHA1	Message	Date
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	48a42dfb5b	Merge pull request #288 from PX4/pr-ekfDelVelBiasFix EKF: Improve protection against covariance instability in delta velocity bias states	8 years ago
Paul Riseborough	929f205a00	EKF: Changes arising from code review	8 years ago
Paul Riseborough	7b5f55303a	EKF: Prevent covariance instability in delta velocity bias state estimation	8 years ago
Paul Riseborough	eb1e73ec81	Merge pull request #283 from PX4/ekf_matrix_cleanup EKF matrix typedef cleanup	8 years ago
Paul Riseborough	ae118940b1	Merge pull request #292 from PX4/pr-use_baro_align use baro for the ekf alignment if range finder is primary height source	8 years ago
Paul Riseborough	dfbc9de48e	Merge pull request #291 from PX4/pr-ekfWindEstBugFix EKF: Fix bug affecting wind estimation for planes	8 years ago
ChristophTobler	ed8fa16678	use baro for the ekf alignment if range finder is primary height source	8 years ago
Paul Riseborough	73ef95b37f	Merge pull request #289 from PX4/pr-height_fixes Pr height fixes	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
Paul Riseborough	8e0cd1bc39	EKF: Add parameter to set initial and max allowed wind uncertainty This enables the initial uncertainty to be set based on application and also ensures that the max allowed growth in wind state variance is consistent with the initial uncertainty specified.	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
Paul Riseborough	42b2469a46	matlab: fix comment error in file conversion utility	8 years ago
Paul Riseborough	70ece4df17	matlab: Add references for coning and skulling correction method	8 years ago
Paul Riseborough	8ccc45b26b	matlab: Fix bug in replay plotting	8 years ago
Paul Riseborough	3e99898d47	matlab: Update readme file for the replay and improve optical flow tuning	8 years ago
Paul Riseborough	c1829d8e9a	matlab: fix bugs and add replay of PX4 optical flow test data	8 years ago
Paul Riseborough	233c4b49c5	matlab: Add derivation of observation Jacobians used by the terrain estimator	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	9303db85eb	matlab: remove project specific code from mag cal comparison script	8 years ago
Paul Riseborough	edeed770b7	matlab: fix alignment bugs	8 years ago
Paul Riseborough	7f1cca5b28	Merge pull request #244 from PX4/pr-rangeAid Pr range aid	8 years ago
ChristophTobler	6f5cffafec	fix type of range_aid parameter: int -> int32_t	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	1b92c9b5b3	ekf_helper: fixed resetting height using range finder - take range sensor offset wrt to IMU into account - use projection to earth Z axis 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
Roman	a0ab5cf0d7	ekf vel_pos_fusion: added height sensor offset to range innovation calculation Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	a1e67396f4	ekf: added methods for setting control height flags Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Paul Riseborough	d6decb3c84	Merge pull request #277 from PX4/pr-ekfBufferParam EKF: Add a parameter to enable setting of a minimum buffer length	8 years ago
Paul Riseborough	c48b879843	Merge pull request #276 from CarlOlsson/feature/only_update_mag_states EKF: Add feature to use the mag to only update the mag states	8 years ago
CarlOlsson	b255d4a53a	fixed typos	8 years ago
Paul Riseborough	97eb17a62f	Merge pull request #265 from PX4/pr-ekfOutputObserver EKF: add option to output velocity as time derivative of position	8 years ago
Paul Riseborough	fed4a9bc5a	EKF: add vertical position derivative output Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode. Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor. Provide separate accessor for vertical position derivative.	8 years ago
Paul Riseborough	16c7041f4a	EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter	8 years ago
Paul Riseborough	a17879ab91	matlab: miscellaneous EKF replay script file improvements Save APM and PX4 data into separate directories and level plots accordingly	8 years ago
Paul Riseborough	3a7a66d360	matlab: improve EKF simulation fusion control Add ability to start before GPS checks pass. Add ability to turn GPS fusion off and on during replay. Add ability to turn Optical Flow fusion off and on during replay. Add ability to turn Visual Odometry fusion off and on during replay. Convert miscellaneous constants to parameters	8 years ago
Paul Riseborough	dabf129daf	matlab: Update EKF replay script files Add automatic save of output results	8 years ago
Julien Lecoeur	d0b4f1e225	Use binary operator~ instead of logical operator!	8 years ago

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961 Commits (2a57fd858d2c5b7083806a26031d4988b828866a) All Branches Search

961 Commits (2a57fd858d2c5b7083806a26031d4988b828866a)

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