cd2ca57ec2
Merge pull request #339 from PX4/ekfPosCtrlLimits-wip
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Ekf pos ctrl limits wip
7 years ago
22a51c6afd
PX4_ISFINITE -> ISFINITE
7 years ago
9e13a2cb21
tecs move initialization
7 years ago
31a8e047d7
tecs one line setters and group
7 years ago
4f2d571c89
tecs fix code style
7 years ago
79995b2c15
Create total energy control system implementation
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This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
7 years ago
9eb860fabd
travis-ci fix gcc and clang compilation jobs ( #344 )
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- allow the python testing to fail without failing the entire build
7 years ago
e10ec59058
EKF: Use consistent test for navigation validity reporting
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This will enable controller to take advantage of non-inertial dead reckoning.
7 years ago
19074fdd9e
EKF: Use consistent time limit for inertial dead reckoning test
7 years ago
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
7 years ago
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
7 years ago
e4ffe199ed
EKF: fix bug in sideslip fusion activation
7 years ago
59f1c3e19e
EKF: Update dead-reckoning definition
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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
7 years ago
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
7 years ago
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
7 years ago
204a218ee6
EKF: Allow dead-reckoning using air data
7 years ago
f5fd90533a
fix gps and flow flag handling
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gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
7 years ago
9857fb9eb6
EKF: publish control limits for optical flow navigation
7 years ago
afa8844eb7
Merge pull request #341 from CarlOlsson/fix/fw_yaw_align2
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EKF: If aligning yaw for fw with low GPS velocity, use mag
7 years ago
2e03084d34
EKF: If aligning yaw for fw with low GPS velocity, use mag
7 years ago
61e0c04811
Merge pull request #338 from CarlOlsson/fix/fw_pos_reset
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EKF: Fix bug when resetting position and velocities for fw due to som…
7 years ago
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
410697cb0c
Merge pull request #337 from CarlOlsson/fix/comment
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EKF: fixed comment
7 years ago
8c83167857
EKF: fixed comment
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
32b795ee10
EKF: Add readme file to EKF documentation directory
7 years ago
8dd4800a2c
EKF: Add preliminary documentation for filter mathematics
7 years ago
a34bba87fc
Merge pull request #322 from PX4/pr-ekfMagFusionMode
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EKF Add mag fusion mode for VTOL
7 years ago
dbff89fbcb
EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW
7 years ago
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
7 years ago
e834522f62
EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic
7 years ago
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
7 years ago
9c65968c3d
Merge pull request #334 from PX4/pr-ekf_minor_flow_fix
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ekf: fix optical flow bugs
7 years ago
68bad48598
Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var
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EKF: added get_wind_velocity_var function
7 years ago
4db23b7b2e
EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks
7 years ago
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
7 years ago
cdf6e6cd36
EKF: use delta_time to avoid division by zero
7 years ago
d293c4231d
EKF: Protect against divide by zero caused by invalid optical flow
7 years ago
ab9b8e1964
EKF: Prevent bad optical flow quality causing loss of aiding when on ground
7 years ago
b7e589b98a
EKF: only fuse optical flow if terrain is valid
7 years ago
81a64c0479
ekf: fix flow direction when on ground
7 years ago
6cb99ce8a8
ekf: add function to get in air status
7 years ago
8200e4b218
EKF: added get_wind_velocity_var function
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
705f93d0bf
Merge pull request #327 from CarlOlsson/parameterize_max_rng_tilt
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EKF: Parameterize maximum angle for rng fusion
7 years ago
0a7c3ecbc6
EKF: Parameterize maximum angle for rng fusion
7 years ago
160e4d69c1
Merge pull request #323 from PX4/pr-ekfQuatMultOrder
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EKF: use hamiltonian convention for quaternion multiplication order
7 years ago
4411c7fd1c
Merge pull request #325 from PX4/pr-ekfFlowGyroBias
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EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias
8 years ago
1d3e8edc46
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation
8 years ago
3b3326e250
Merge pull request #326 from TSC21/fix_travis
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travis: install python3.5 for trusty in order to run pip3
8 years ago
571a0f7da7
travis: use pyenv in order to force pip3 version
8 years ago
7affb42f22
travis: install python3.5 for trusty in order to run pip3
8 years ago
Paul Riseborough
Daniel Agar
Paul Riseborough
ChristophTobler
CarlOlsson
TSC21