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1087 Commits (5c64879688393c5c7a321137c82603f36ecc8119)

 

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Author	SHA1	Message	Date
Daniel Agar	5c64879688	Jenkins codecov.io add flag	7 years ago
Paul Riseborough	d177e96508	EKF: Fix bug causing slow drift when high rate flow data is used ... High rate optical flow data could make flow fusion to run every major update cycle, resulting in the calculation of bias errors in the body rates used to compensate flow data failing time validity checks and not running. This resulted in a slow drift of the nav solution if bias errors were present in the in the gyro data used for flow sensor motion compensation.	7 years ago
Paul Riseborough	ee2dc7d790	EKF: Rework optical flow selection logic ... Fixes a race condition caused by the _is_dead_reckoning test. Only checks flow selection when flow is available.	7 years ago
Paul Riseborough	e383b6a272	EKF: rework optical flow selection logic ... Make use of range aiding movement check clearer. Fix logic errors that caused rapid toggling of flow use when on ground.	7 years ago
Paul Riseborough	487e6a0901	EKF: enable user selection of auto mag free operation ... Also modify check to not apply if EV yaw is being used.	7 years ago
Paul Riseborough	6bdbe032f9	EKF: Fallback to optical flow for all in-flight loss of navigation scenarios	7 years ago
Mohammed Kabir	b4d2b8c57d	EKF : introduce new architechture for navigation limits	7 years ago
Paul Riseborough	8a713398cb	EKF: Improve ground effect compensation ... Start deadline at zero so that initial rotor wash effect is rejected.	7 years ago
Paul Riseborough	39697f1196	EKF: rework optical flow switching	7 years ago
Paul Riseborough	1cfe845751	EKF: rework GPS quality check	7 years ago
Paul Riseborough	99a80387ed	EKF: improve optical flow GPS quality checking	7 years ago
Paul Riseborough	7f36add241	EKF: scale GPS vertical accuracy check when using optical flow	7 years ago
Paul Riseborough	fc9f532c34	EKF: relax range finder data continuity check	7 years ago
Paul Riseborough	93c456f2b8	EKF: Improve protection against badly conditioned dVel bias covariances ... Reduces likelihood of Z delta velocity bias learning to wrong value.	7 years ago
Paul Riseborough	225057aaf5	EKF: Fix bug preventing use of terrain estimator	7 years ago
Paul Riseborough	adb4a09beb	EKF: Fix bug causing large yaw innovations when GPS is lost	7 years ago
Paul Riseborough	f59cd0f5b0	EKF: Don't make detection of indoor operation dependent on optical flow ... This is required because it can take several seconds for an optical flow sensor operation to be confirmed and there are also many use cases for indoor operation where no optical flow is used.	7 years ago
Paul Riseborough	1562a82dc2	EKF: Add parameter to adjust on-ground movement detector sensitivity	7 years ago
Paul Riseborough	ea9e8246ed	EKF: Improve detection of indoor flight condition	7 years ago
Paul Riseborough	565f99254c	EKF: Reduce effect of yaw gyro bias when using optical flow indoors	7 years ago
Paul Riseborough	e10798bfdf	EKF: Add on ground movement detector	7 years ago
Paul Riseborough	2d3b65231b	EKF: Reset yaw gyro bias learning when resuming use of magnetometer ... The previous lack of yaw drift constraint will also mean that the yaw gyro bias estimate is likely to be incorrect and needs to be re-learned.	7 years ago
Paul Riseborough	8191068959	EKF: Don't start using mag if optical flow use is interrupted ... If magnetometer use is being inhibited because an indoor condition has been detected (optical flow and poor or no GPS) and the optical flow fusion checks fail causing the EKF to stop navigating, we do not want the EKF to start using the magnetometer.	7 years ago
Paul Riseborough	4889e8432c	EKF: Don't fuse multi rotor drag if yaw angle is bad	7 years ago
Paul Riseborough	092a8d8f21	EKF: Fix GPS validity time check error	7 years ago
Paul Riseborough	0160aaa568	EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing	7 years ago
Paul Riseborough	84516760c0	EKF: Use stricter GPS accuracy test when optical flow is being used ... This adds some hysteresis to the automated optical flow selection and also reduces likelihood of bad GPS being used when operating indoors,	7 years ago
Daniel Agar	a80b3ab610	set MODULE define for each library ... - this is needed for INFO, WARN, ERR messages when used within PX4	7 years ago
Daniel Agar	50631e5d98	geo remove use of DBL_EPSILON ... -this doesn't seem to be (obviously?) available on qurt	7 years ago
Daniel Agar	cb63f16d48	cmake cache ECL source directory path to work with catkin (#447)	7 years ago
Bart Slinger	bae4b8a5e7	remove superfluous elseif (#431) ... * remove superfluous elseif * Set ev_hgt flag false when starting on baro	7 years ago
Paul Riseborough	16976d3911	Merge branch 'pr-ekfOptFlowFixes' ... * pr-ekfOptFlowFixes: EKF: fix bug causing height offset when GPS use stops EKF: Don't reject saturated flow data when it is the only aiding source EKF: Prevent flow motion check false positives EKF: Don't assume large position uncertainty when starting optical flow nav EKF: relax terrain update requirements for continuing optical flow use EKF: Relax minimum required range finder measurement rate EKF: relax optical flow on ground motion checks EKF: range finder aiding logic fixes EKF: Decouple range finder use criteria checking and selection EKF: Don't auto select range finder for height when on ground. EKF: Fix false triggering of optical flow bad motion checks EKF: update comments EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height EKF: Stop using EV for yaw when GPS fusion starts EKF: Add persistence criteria to GPS fail check EKF: allow GPS fallback if quality bad and alternative aiding available EKF: always run GPS checks	7 years ago
Paul Riseborough	75e65901ae	EKF: fix bug causing height offset when GPS use stops ... This bug causes the last vertical velocity observation to be continuously fused.	7 years ago
Paul Riseborough	e8e9e34a73	EKF: fix bug causing height offset when GPS use stops ... This bug causes the last vertical velocity observation to be continuously fused.	7 years ago
Paul Riseborough	6cadc92285	EKF: Don't reject saturated flow data when it is the only aiding source	7 years ago
Paul Riseborough	bf902e5eca	EKF: Prevent flow motion check false positives ... The previous implementation could false trigger if there was significant vibration below 200Hz during startup.	7 years ago
Paul Riseborough	bdf5b3e003	EKF: Don't assume large position uncertainty when starting optical flow nav	7 years ago
Paul Riseborough	e26711af7d	EKF: relax terrain update requirements for continuing optical flow use	7 years ago
Paul Riseborough	868bc01087	EKF: Relax minimum required range finder measurement rate	7 years ago
Paul Riseborough	02963a85c4	EKF: relax optical flow on ground motion checks	7 years ago
Paul Riseborough	24b005ed57	EKF: range finder aiding logic fixes	7 years ago
Paul Riseborough	0c0a6602b0	EKF: Decouple range finder use criteria checking and selection	7 years ago
Paul Riseborough	6708bec1b4	EKF: Don't auto select range finder for height when on ground.	7 years ago
Paul Riseborough	0a63052753	EKF: Fix false triggering of optical flow bad motion checks	7 years ago
Paul Riseborough	f9d4934db6	EKF: update comments	7 years ago
Paul Riseborough	82de3141f0	EKF: Don't use optical flow if GPS is good and the vehicle is not using range finder for height	7 years ago
Paul Riseborough	389786ef1b	EKF: Stop using EV for yaw when GPS fusion starts	7 years ago
Paul Riseborough	4ab78230e6	EKF: Add persistence criteria to GPS fail check	7 years ago
Paul Riseborough	67d71ca406	EKF: allow GPS fallback if quality bad and alternative aiding available	7 years ago
Paul Riseborough	bd59e381db	EKF: always run GPS checks	7 years ago