px4_autopilot

Commit Graph

Author	SHA1	Message	Date
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
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	e371a303a9	EKF: publish the quaternion reset event	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
Carl Olsson	0fafc49a49	fixed typos (#147 )	9 years ago
waltjohnson	7c158aa59b	Addressed C99 compiler issues of initializing variables in header and unused included statements.	9 years ago
Paul Riseborough	22fba0fc6e	EKF: don't initialise filter without EV data if we are relying on it	9 years ago
Paul Riseborough	57b2a256f7	EKF: Improve initialisation of quaternion covariances Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions. Enable setting of initial angle uncertainty via a parameter	9 years ago
Paul Riseborough	1540e937b1	EKF: Improve tilt alignment monitoring Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.	9 years ago
Paul Riseborough	b985e58333	EKF: clean up control function With the addition of new observation types, the control function has become too large and needed be broken up into separate functions	9 years ago
Paul Riseborough	c7e225124c	EKF: Improve output observer position and velocity tracking Replace the delayed time feedback mechanism used by the translational states with a direct feedback method. Time constants for velocity and position convergence can be separately adjusted with tunable parameters The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.	9 years ago
Paul Riseborough	481c624975	EKF: Remove use of vehicle arm status Use single externally set in-air status for all decisions	9 years ago
Paul Riseborough	724280fd1f	EKF: move calculation of optical flow observation variance into a function Allows it to be used when calculating initial state variance	9 years ago
Paul Riseborough	25682dce91	EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow	9 years ago
Paul Riseborough	7f5669fb2d	EKF: consolidate covariance corrections Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function. This ensures a consistent correction is applied after every covariance prediction or correction.	9 years ago
Paul Riseborough	f1b7e7714e	EKF: Make average update rate of EKF closer to target With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.	9 years ago
Paul Riseborough	727a43764f	EKF: update initial angle alignment check	9 years ago
Paul Riseborough	fe9f88a8b4	EKF: test new derivation Use direct attitude parameterisation Discard scale factors Add accel bias	9 years ago
Paul Riseborough	4fcbfb5d42	EKF: correct error in comment	9 years ago
Paul Riseborough	874558d194	EKF: improve detection of bad vert accel data Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.	9 years ago
Paul Riseborough	421703c267	EKF: rework initialisation of height state and offsets	9 years ago
Paul Riseborough	10bf05e9a6	EKF: publish the vertical position offset	9 years ago
Paul Riseborough	0de15b1b20	EKF: Add variables to monitor vertical position and height offset	9 years ago
Roman Bapst	99fc61c27c	ekf2 airspeed fusion: - finished logic for fusion - fixed bug where previous control status was set in the wrong location	9 years ago
Paul Riseborough	31bf342fc1	EKF: publish GPS check status	9 years ago
Roman Bapst	60abf07bee	added function to return accelerometer bias	9 years ago
Paul Riseborough	2dcc6e2053	EKF: Improve accuracy of state prediction Use an a common estimator value for gravity Use average orientation across update interval when rotating delta velocities	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	e10093854a	EKF: correct outputs for IMU offset	9 years ago
Paul Riseborough	b46053415f	EKF: Compensate optical flow data for sensor position offset	9 years ago
CarlOlsson	6bb2f7638c	adopted ekf.h	9 years ago
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	9 years ago
Paul Riseborough	c58ab3e256	EKF: Enable fallback to baro alt when using range finder for height	9 years ago
Paul Riseborough	370f643f42	EKF: Enable use of range finder for primary height source	9 years ago
Paul Riseborough	e0fcce1463	EKF: Make position and velocity reset publish success Some users of the position and velocity reset functions will need to know if the reset has been successful.	9 years ago
Paul Riseborough	dca186c6e8	EKF: Add required declarations for optical flow	9 years ago
Paul Riseborough	5242af84af	EKF: Standardise covariance update and use static arrays for large matrices	9 years ago
Paul Riseborough	d5e47d21db	EKF: miscellaneous comment and format changes	9 years ago
Paul Riseborough	cd0cac066a	EKF: Calculate and publish horizontal and vertical position accuracy This calculation takes into account the uncertainty of the origin. Dead reckoning status is also published	9 years ago
mcsauder	6613335937	Added constexpr back from const var type.	9 years ago
mcsauder	a4cecb1704	Match variable initialization order difference with upstream.	9 years ago
mcsauder	6c96f45f08	Remove whitespace differences with upstream for pull request.	9 years ago
Paul Riseborough	a711632017	EKF: Add method to fuse horizontal magnetometer data This method is more suitable than a raw heading measurement because it works across a full range of pitch angles. It has been made the default for ground operation.	9 years ago
mcsauder	437f6ca5fb	Moved initialization to object constructors to allow C99 compiler compatibility.	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	9 years ago
Paul Riseborough	d9bf4e9870	EKF: Enable control mode transitions to be detected Save the previous value of the filter control modes	9 years ago
Paul Riseborough	de02aebafd	EKF: Reset covariance matrix when doing a yaw and magnetic field reset The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed	9 years ago

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80 Commits (381d99aed61ad2313342d86a7a790e1e04468f9a)