16154423c8
matlab: update optical flow derivation
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Support use of sensors with arbitrary orientation in body frame
7 years ago
9cf0948bcf
matlab: add derivation for air data error equations
8 years ago
33e8d5923f
matlab: Allow replay to handle late start GPS data in log
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Also minor fix to comments.
8 years ago
e18f92d9c2
matlab: Improve conversion of APM log data
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Allow file conversion to work with unequal length GPS and GPA data.
Allow file conversion to work if range, flow and odometry data is not present.
8 years ago
5aeeebf7ac
matlab: Fix derivation for 321 Euler rotation sequence
8 years ago
26b5f26891
matlab: Add scripts to calculate rotation conversions for 321 or 312 Euler sequences
8 years ago
5277141166
sensor_combined stores deltas in usec instead of seconds
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Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
8 years ago
e2a5e57e14
matlab: Update replay scripts
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Miscellaneous fixes and tuning changes.
Add plotting of Euler angle uncertainties.
8 years ago
42b2469a46
matlab: fix comment error in file conversion utility
8 years ago
70ece4df17
matlab: Add references for coning and skulling correction method
8 years ago
8ccc45b26b
matlab: Fix bug in replay plotting
8 years ago
3e99898d47
matlab: Update readme file for the replay and improve optical flow tuning
8 years ago
c1829d8e9a
matlab: fix bugs and add replay of PX4 optical flow test data
8 years ago
233c4b49c5
matlab: Add derivation of observation Jacobians used by the terrain estimator
8 years ago
9303db85eb
matlab: remove project specific code from mag cal comparison script
8 years ago
edeed770b7
matlab: fix alignment bugs
8 years ago
a17879ab91
matlab: miscellaneous EKF replay script file improvements
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Save APM and PX4 data into separate directories and level plots accordingly
8 years ago
3a7a66d360
matlab: improve EKF simulation fusion control
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Add ability to start before GPS checks pass.
Add ability to turn GPS fusion off and on during replay.
Add ability to turn Optical Flow fusion off and on during replay.
Add ability to turn Visual Odometry fusion off and on during replay.
Convert miscellaneous constants to parameters
8 years ago
dabf129daf
matlab: Update EKF replay script files
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Add automatic save of output results
8 years ago
8351e13c70
Matlab: update readme file and provide link to sample data set
8 years ago
9f61622044
Matlab: Improve efficiency of odometry derivation
8 years ago
510b8763ea
Matlab: Add basic implementation of EKF to support development testing
8 years ago
a02a046f5e
EKF: Clean up auto-code files for body frame velocity measurements
8 years ago
e569578cf9
EKF: add derivation for body frame velocity measurements
8 years ago
eff9af549f
scripts: derive conversion from polar to cartesian wind state covariance
9 years ago
4f8ffb3420
promote to float (for internal representation) before scaling by format multiplier ( #175 )
9 years ago
f467e714bd
add double support
9 years ago
a4728bc748
EKF: derive auto-code for quaternion state covariance initialisation
9 years ago
6ca8a36782
EKF: Add matlab derivation for calculation of rotation vector variance
9 years ago
a189c60d33
EKF: update code fragment text files
9 years ago
57d3036ee7
EKF: update derivation files
9 years ago
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
6ecbefd7e4
EKF: add matlab script to test complementary filter gains
9 years ago
9994aa7fdb
fix a field name that I missed last time
9 years ago
59df1a3552
rename log GUI consistent with its assumptions
9 years ago
62bdcf3e9b
supports APM dataflash logs
9 years ago
941d3bca0a
changes some graphics arguments for version compatibility, adds a viewer example to the usage samples script
9 years ago
684b41494e
adds estimator log viewer UI
9 years ago
3773d5a00d
removes accidentally commited px4log test file
9 years ago
eb41d25ff6
reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly
9 years ago
2ad21bc8c7
adds function header comments and method attribution
9 years ago
f6413a1924
renames test script for clarity
9 years ago
93fde19c25
changes some cell notation for speed
9 years ago
0e3a6e214c
completed low-overhead import script, added usage examples
9 years ago
8c8653a1a2
initial commit of matlab px4 log importer
9 years ago
c6bd93ed40
EKF: Include all output files generated by derivation script
9 years ago
ac71ec5d37
EKF: Fix scaling error in covariance prediction derivation
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The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
9 years ago
e9ccfdd484
EKF: Update derivation scripts and outputs
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Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
9 years ago
ea29e39e5b
EKF: Updated derivation of Jacobians for direct heading measurement
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Adds an alternative using a 312 Euler sequence.
9 years ago
70a3b91217
EKF: Update magnetometer fusion derivations
9 years ago
Paul Riseborough
Nicolae Rosia
georgehines
George Hines