Lorenz Meier
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6eba7a9e41
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Fix gyro measurement noise variance
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12 years ago |
jgoppert
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8025a54d77
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Added pressure alt measurement to kalman demo.
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12 years ago |
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Lorenz Meier
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8740349545
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Removed 1 Hz output
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12 years ago |
Julian Oes
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fc4be3e728
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Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps
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12 years ago |
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Lorenz Meier
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ac215185a9
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Better attitude filter, not sensitive to sudden accelerations
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12 years ago |
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Lorenz Meier
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2542722102
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Fixed selective publication update
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12 years ago |
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James Goppert
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4b2d1690d3
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Set kalman_demo to only publish when it has valid info.
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12 years ago |
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James Goppert
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13bb814f20
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Prevented attitude correction from changing velocity when pos not init.
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12 years ago |
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James Goppert
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c2c0baf843
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Increased process noise.
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12 years ago |
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James Goppert
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ded442fd19
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Added position initialization.
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12 years ago |
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jgoppert
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41ac3fdef9
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Increased fault threshhold.
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12 years ago |
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jgoppert
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f8811649cb
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Controller/ EKF tuning.
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12 years ago |
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jgoppert
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ce3f835c63
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Mag and velocity measurement fix. Fault detection working.
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12 years ago |
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James Goppert
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68a6a64213
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Working on velocity errors.
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12 years ago |
|
James Goppert
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afb69cd054
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Reducing pos/att correction update rates for debugging.
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12 years ago |
|
James Goppert
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28ef7aa1be
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Refactored RPos. Increased global pos output rate for debugging.
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12 years ago |
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James Goppert
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68b92cd4fc
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Slowed HIL status updates. Also prevented posCor. when gps not init.
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12 years ago |
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James Goppert
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9cf3d51aec
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Made fault tolerances adjustable.
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12 years ago |
|
James Goppert
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edf0a6bae7
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Added check for valid attitude data.
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12 years ago |
|
James Goppert
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022c30ea4f
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Enabled kf to run w/o gps.
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12 years ago |
|
James Goppert
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281372ef3a
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Added mag dip/dec as parameters.
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12 years ago |
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James Goppert
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8b6660fc36
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Fixed param issue.
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12 years ago |
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James Goppert
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d02a24ec82
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Adding comments to ekf.
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12 years ago |
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James Goppert
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5b0aa490d6
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Added P0. Hid some printing. Corrected fault detection.
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12 years ago |
|
James Goppert
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c49320a03e
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Working on fault detection tolerances.
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12 years ago |
|
James Goppert
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a13cf90e0a
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Increased KF process noise.
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12 years ago |
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jgoppert
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f2d2aafb8d
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Fault detection working, but GPS velocity measurement causing fault.
Possible error in HIL script or progpagation/ F matrix of EKF.
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12 years ago |
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jgoppert
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3db216380b
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Changing measurement units for gps, not working well yet.
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12 years ago |
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James Goppert
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5745cfae38
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Tracking down gps ekf bug, not enough precision for GPS in rad.
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12 years ago |
|
James Goppert
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63e6ea1b95
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Changed fault tolerances.
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12 years ago |
|
James Goppert
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e3d0e0216b
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Fixed comment.
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12 years ago |
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James Goppert
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464c5245f2
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Rebase of changes to sensor_hil_fixedwing branch.
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12 years ago |
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jgoppert
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23e8d0b467
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Added kalman_demo. This is an attitude/position EKF example.
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12 years ago |
