px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	403424d55d	EKF: fix cross compiler build errors	8 years ago
Paul Riseborough	d5b398ddb1	EKF: Minimise data buffer lengths Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.	8 years ago
Paul Riseborough	750a8874c1	EKF: Improve recovery and reporting for badly conditioned sideslip fusion Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states. Improve reporting.	8 years ago
Paul Riseborough	6c7703d485	EKF: Update tuning for synthetic sideslip fusion Used value that worked well for replay of flight logs	8 years ago
Paul Riseborough	f76a2a5ff7	EKF: fix bug in sideslip fusion and reduce RAM usage The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss). The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes	8 years ago
Paul Riseborough	951c8b77af	EKF: Improve wind state reset logic Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation. Wind states and covariances are reset differently depending on whether airspeed is available.	8 years ago
Paul Riseborough	2fedbc8a18	EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency	8 years ago
Paul Riseborough	352b4ca177	EKF: Allow sideslip fusion with airspeed fusion	8 years ago
Paul Riseborough	fb6f4be453	EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning	8 years ago
CarlOlsson	a9182259a5	fixed bug in beta fusion	8 years ago
CarlOlsson	0e3ae4b323	fixed issue with the covariance update in synthetic sideslip fusion	8 years ago
CarlOlsson	e1d9d503e3	updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated	8 years ago
CarlOlsson	dec686afd7	updated parameters	8 years ago
CarlOlsson	5205a8198b	added function to control when to fuse beta	8 years ago
CarlOlsson	f5d0228cd5	include ecl.h	8 years ago
CarlOlsson	beb90f008d	adopted code for upstream changes	8 years ago
CarlOlsson	b7a4a1358f	added sidelip_fusion.cpp	8 years ago
CarlOlsson	12aeaafbd3	adopted estimator_interface.h	8 years ago
CarlOlsson	c8e3c24150	adopted ekf_helper.cpp	8 years ago
CarlOlsson	8f6c75bb0b	adopted ekf.h	8 years ago
CarlOlsson	15768f6f93	adopted ekf.cpp	8 years ago
CarlOlsson	738414d36e	adopted common.h	8 years ago
CarlOlsson	6c9cc5691c	adopted EKF/CMakeLists	8 years ago
CarlOlsson	daf44dcd67	adopted CMakeLists	8 years ago
Paul Riseborough	283c328c23	Merge pull request #212 from PX4/pr-ekfCriticalBugFix EKF: Fix bug causing repeated resets if GPS sensor disconnected	8 years ago
Paul Riseborough	8aee45dd96	EKF: Fix bug causing repeated resets if GPS sensor disconnected	8 years ago
Paul Riseborough	2bc50489fd	Merge pull request #210 from PX4/remove_KH EKF: reduce KH to only the elements that are really needed, and merge the loops	8 years ago
Beat Küng	07c6aabd98	EKF: reduce KH to only the elements that are really needed, and merge the loops	8 years ago
Paul Riseborough	1b59a89a18	EKF: save some stack memory	8 years ago
Beat Küng	f472324ae8	DataValidatorGroup: remove the assert (avoid crashes in flight)	8 years ago
Beat Küng	25cb400da9	EKF: remove Ekf::KHP and move KHP to the methods where it's used Everywhere where KHP is used, it is first completely reset, thus making it unnecessary to keep it as a class member. This saves 2.3KB RAM. Stack sizes don't need changing, since there is already a function Ekf::predictCovariance(), which needs around 3KB of stack and is called close to where the fuse* functions are called.	8 years ago
Beat Küng	227938d263	DataValidatorGroup: add add_new_validator() to dynamically add new validators	8 years ago
Beat Küng	ded3b1a690	DataValidatorGroup: fix memory leak, delete all DataValidator's in destructor	8 years ago
Beat Küng	b870f92e1c	DataValidator: use 32bit timeout instead of 64bit, saves memory	8 years ago
Paul Riseborough	d07692e87e	Merge pull request #204 from PX4/pr-gpsReset ekf reset: more granular reset / timeout strategy for gps fusion	8 years ago
Paul Riseborough	79df7e8889	EKF: Reduce effect of bad airspeed when other aiding data available	8 years ago
Paul Riseborough	968cfae632	EKF: Fix bug preventing fallback from GPS mode if GPS is lost	8 years ago
Roman	63cf3d50be	ekf gps reset: do not bother checking for need of reset if gps is not available Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	c5f750dcca	ekf reset: more granular reset / timeout strategy for gps fusion - if both gps position and velocity measurements are rejected for 7 seconds do a reset - if only gps position measurements are rejected then wait for 14 seconds as we still have velocity measurements to constrain the drift in position - introduced ecl internal parameter for the timeout Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman Bapst	65de4962b5	Merge pull request #203 from PX4/pr-ekfVibeReporting EKF: Add IMU vibration calculation and reporting	8 years ago
Paul Riseborough	b10b0184c5	EKF: Add IMU vibration calculation and reporting Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration	8 years ago
Roman	17c195d1cd	ekf2 height reset: do not apply height change to height state twice (bug) Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Paul Riseborough	1093e6d789	EKF: fix documentation error	8 years ago
Roman	f80b3481a4	reset the newest output sample for all possible resets Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	238d947239	proper handling of position and velocity reset - position reset method was returning before the actual delta values were written and applied to the output buffer - apply reset delta also to the output sample which was already taken out from the output buffer, otherwise the complementary filter solution is offset from the ekf solution Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Paul Riseborough	79b1d3018d	EKF: Fix magnetometer innovation test ratio reporting bug	8 years ago
Lorenz Meier	394bfdc935	Update README.md Fix prerequisites.	8 years ago
Daniel Agar	0d02bb2612	ecl attitude_fw fix excessive body fixed turn offset -limit body fixed turn offset contrained roll to possible roll setpoint range -fixes #181	8 years ago
James Goppert	7dbb43f2cd	Update matrix.	8 years ago
Paul Riseborough	352750e5d1	EKF: publish ekf solution status summary data	8 years ago

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734 Commits (3758c5a09df746da047aab34bde30eb815b6d752) All Branches Search

734 Commits (3758c5a09df746da047aab34bde30eb815b6d752)

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