px4_autopilot

Commit Graph

Author	SHA1	Message	Date
bresch	9d22f140dd	gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc	4 years ago
bresch	b0cf45e2d2	gps_alt: rename getGpsAltVar -> getGpsHeightVariance	4 years ago
bresch	62f2e26c49	gps_alt: reset GPS alt variance usign helper function	4 years ago
bresch	f7bddda3d5	gps_alt: do not scale up reported gps vertical accuracy The comment said that the horizontal accuracy needs to be scaled up using the typical epv/eph ratio but the epv (vacc) is already available, so no scaling is required.	4 years ago
bresch	02369cd415	gps_alt: extract measurement variance computation and saturation	4 years ago
Daniel Agar	1541e4b414	EKF: update control status and fault status getters - the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)	4 years ago
zhaoxiaowei	fbf67bdef9	reset gps height use vacc	4 years ago
Mathieu Bresciani	8f3df7a97b	flow: restructure optical flow control logic (#928 ) - extract motion checks performed on ground - move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion. - add filter convergence test - move check for dt time max in setOpticalFlowData - in the simulator, do not update dt as this is the sensor integration period.	4 years ago
Daniel Agar	688a054bdb	EKF: controlDragFusion() add parenthesis for readability	4 years ago
Paul Riseborough	944b18c63e	EKF: Remove non useful status print Local position is never valid when filter is initialised so there is no use printing the status.	4 years ago
Paul Riseborough	ee94980a8f	EKF: Clean up wind state activation logic Ensure wind states are deactivated in one place and always when in a non-position mode. Activate wind states separately for each observation method.	4 years ago
Paul Riseborough	44ebfb8c43	EKF: Don't report local position as valid when in a non-position mode	4 years ago
Daniel Agar	da7d41e78a	EKF: add mag bias reset helper and update IMU bias reset to match (#924 )	4 years ago
Daniel Agar	03cfcb903e	EKF: RingBuffer minor improvements - allocate IMU and output buffers on construction according to defaults - determine buffer max time delay based on configuration parameters - reorder flowSample and extVisionSample to minimize padding - adjust parameter defaults to match PX4-Autopilot	4 years ago
bresch	da9f314b69	mag: use strength in Gauss	4 years ago
Claudio Micheli	c4d162f9a0	EKF: range_finder parameterize range sensor quality hysteresis time Signed-off-by: Claudio Micheli <claudio@auterion.com> Co-authored-by: bresch <brescianimathieu@gmail.com>	4 years ago
Daniel Agar	6158d6d841	EKF: add const reference getters for status flags	4 years ago
Daniel Agar	a21092804a	EKF: remove virtual getters from estimator_interface	4 years ago
Daniel Agar	48a8992caf	EKF: move small simple getters to header - return by const reference where possible	4 years ago
Daniel Agar	defb35d8f5	EKF: pass imuSample by const reference	4 years ago
Daniel Agar	d85e24d3ca	EKF: Ekf class is final	4 years ago
Daniel Agar	5ea8824439	EKF: inline simple getters	4 years ago
Daniel Agar	6e99ebd928	EKF: add fault status bit for bad vertical accel data	4 years ago
Daniel Agar	d936b85d71	EKF: add fault status bit for clipping	4 years ago
Mathieu Bresciani	dd3ffc4192	Optical flow: compute velociy from corrected flow data for logging (#920 ) This is really useful when debugging optical flow data	4 years ago
Paul Riseborough	f666ebb995	EKF: Code format fix - replace 1E-x with 1e-x	4 years ago
Paul Riseborough	e82d0af6d2	EKF: Improve code clarity - non functional change	4 years ago
Paul Riseborough	759d217d5a	EKF: Improve protection for GSF weight collapse	4 years ago
Paul Riseborough	7c81350c7a	EKF: Don't yaw reset if not yaw induced nav failure	4 years ago
Paul Riseborough	bf0d70fc90	EKF: Protect against collapse of GSF weights	4 years ago
Daniel Agar	4c2355a638	EKF: use GPS to lookup declination from WMM before full GPS checks pass	4 years ago
bresch	5879eaaf78	ekf: fix variable length array error Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it. Using sizeof...(Idxs) fixes the error.	4 years ago
Daniel Agar	fab242a81f	python generation add shebang, mark executable, ignore cache - commit all current generated files	5 years ago
bresch	264c8c4e86	mag_fusion: mag heading and 3d modes are mutually exclusive There is no need to check if 3d fusion is active when in mag heading fusion mode since this is impossible	5 years ago
kamilritz	9797e4d28f	updateYawInRotMat with hidden rotation sequence handling	5 years ago
kamilritz	4fb4e0ca01	Clean euler321 and euler312 code and comment	5 years ago
Kamil Ritz	2be738e806	Add helper function to alter heading in rotation matrices	5 years ago
Kamil Ritz	fdc86c247a	add functions to compute yaw (321 and 312 sequence) from quaternion and rotation matrix	5 years ago
Kamil Ritz	15afa8ae17	shouldUse321RotationSequence(const Dcmf& R)	5 years ago
Kamil Ritz	4872f2a545	Remove not used code	5 years ago
Kamil Ritz	0fafd4d68b	precompute cos and sin of yaw once before mutliple use	5 years ago
Kamil Ritz	114516b784	Use new added matrix functions	5 years ago
Kamil Ritz	1f637af7de	Add const modifier	5 years ago
kamilritz	aa2c77f92d	Small cleanup in velposfusion	5 years ago
kamilritz	644e903552	Apply measurementUpdate function	5 years ago
kamilritz	404edde7f3	Add measurementUpdate function	5 years ago
kamilritz	f6252ff533	small cleanup in limitDeclination	5 years ago
Paul Riseborough	fd849e0578	EKF: Fix specific force observation noise variance Also add protection for out of range value.	5 years ago
Paul Riseborough	76f393dcb0	EKF: Use const reference instead of local copy	5 years ago
Paul Riseborough	c43307b8cf	EKF: convert drag fusion from Matlab to SymPy generated auto-code	5 years ago

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1348 Commits (4ac57d3bdee450372ba974a0cca4b63a067a00d1)