cf9c8de167
EKF: Add arbitrary pitch offset for range sensor
8 years ago
d9688fae7d
EKF: Simplify terrain position validity check
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Remove the relative accuracy check that was false triggering close to ground
8 years ago
af26ade1ce
EKF: Use norm for vector length everywhere
8 years ago
6e5a9aabe1
Merge pull request #234 from PX4/pr-optFlowUpdates
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EKF: optical flow improvements
8 years ago
66b8f7ec5b
Removed obsolete fields from ECL control data
8 years ago
5363e8d307
Wheel controller: use library function to wrap pi
8 years ago
674ab3f81b
attitude_fw fix style
8 years ago
f22ad30ef3
removed turn compensation flag form control data since it's obsolete
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
e1f9874c82
wheel controller: fix computation and scaling of integrator
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
c4cc02b3f2
yaw controller: fix bug where roll for turn coordination was constrained
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wrongly
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
391b6dfd00
yaw controller: for now do not do turn compensation when inverted and use
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the roll setpoint as limit for turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
66b7773059
yaw controller: deactivate lateral acceleration control for now but
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put comment of how to do it properly
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
f300877db4
yaw controller: computed desired yaw rate based on coordinated turn constraint
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
4057defa53
pitch controller: removed turn offset compensation form pitch controller
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- turn compensation is included in the desired yawrate
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
55401ec1b0
fw attitude control: compute integrator correctly
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- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
ac7fc30ea7
fw attitude controllers: restructuring in order to allow acro flight mode
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- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
2750961be6
c++11 initialization cleanup ( #237 )
8 years ago
7883085e4a
clang-tidy readability-simplify-boolean-expr ( #235 )
8 years ago
47b8ef258b
clang-tidy performance-type-promotion-in-math-fn ( #236 )
8 years ago
bcf7cac5d9
EKF: remove hardcoded limit on optical flow time delta
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Allow for up to 50% lost data.
8 years ago
3fb7effb0c
EKF: Allow optical flow use when on-ground with poor data quality
8 years ago
21270bb06a
EKF: Use last known position when resuming OF aiding
8 years ago
453bde73f8
ECL: Simplify / correct estimator interface
8 years ago
c5a55d97aa
initialise data members properly
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- dot not use memset for struct with non POD types
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
1465adca2f
EKF: Improve use of memcpy
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Changes made to remove Coverity scan errors
8 years ago
26a06567bb
EKF: add missing initialisation for class variables
8 years ago
f999729d70
EKF: fix incorrect use of memcpy
8 years ago
b536382ae1
EKF: remove dead code
8 years ago
6358bbd257
EKF: remove self assignment
8 years ago
3b61528f0f
EKF3: initialise default value for EV fusion gate
8 years ago
9ddcba3ed0
EKF: remove un-used variable
8 years ago
d668a2d798
clang-tidy performance-unnecessary-value-param
8 years ago
a7cdef6c5c
clang-tidy modernize-redundant-void-arg
8 years ago
ec1a14bc6b
height counter needs to be updated with ev counter value when our primary height source is set to ev
8 years ago
3c4c09593f
EKF: Rationalise console messages
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Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
8 years ago
934890c2df
EKF: Add validity flag to ekf origin reporting
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Flag is false until the origin has been initialised
8 years ago
b154ce9c33
Fixed include for snapdragon
8 years ago
9618adb542
Simplify switch logic for validator
8 years ago
6f78ef4084
Update validator to provide correct response for single sensor usage
8 years ago
aad3a2b751
Validator: Trim down printing and do not reset init state
8 years ago
75520641a5
Make the equal value threshold configurable
8 years ago
00dbffe11d
Validator whitespace fixes
8 years ago
bf8a9a3d09
EKF: Whitespace fixes
8 years ago
6282c72d2e
Validation: Whitespace fixes
8 years ago
10c6ae77ae
Attitude fw yaw: Initialize yaw rate properly
8 years ago
983c44088f
fw att fix pitch feedforward constrained roll
8 years ago
a776b2c549
EKF: Fix bug preventing reset to GPS position when using optical flow
8 years ago
460c9e5250
EKF: Don't try to fuse air data if not in normal aiding mode
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Taking off before passing GPS checks would cause airspeed or sideslip to be fused when the filter was still using a constant position assumption. This would cause large airspeed innovations, invalid wind estimates and degrade filter performance after GPS was gained and position and velocity was reset.
8 years ago
5ad329b641
EKF: Fix variable names to match convention
8 years ago
afd6e54b2a
EKF: Allow for worst case timing jitter when setting observation buffer length
8 years ago
Paul Riseborough
devbharat
Paul Riseborough
Andreas Antener
Daniel Agar
Roman
Lorenz Meier
Nic
Dennis Mannhart
Lorenz Meier