px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	007e73379f	EKF: Improve reporting of position error	8 years ago
Paul Riseborough	744b79c1b2	EKF: Publish innovation test ratios	8 years ago
Paul Riseborough	b5ba4f280f	EKF: reduce output predictor velocity time constant	8 years ago
Paul Riseborough	65762e5998	EKF: publish output predictor tracking errors	8 years ago
Paul Riseborough	c81f9f1dba	EKF: Reduce output predictor tracking errors Implements a PI tracking loop	8 years ago
Julian Oes	616aeb9ad7	ekf_helper: fix forgotten return value	8 years ago
Julian Oes	fd403b733d	CMakeLists: don't always optimize for size Going forward the optimization flags should be set for a platform, rather than for each individual module.	8 years ago
Roman	c6e1d97176	terrain estimator: initialise with projection Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
Roman	cc05db4985	terrain estimator: pass initialisation return value correctly Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
Roman	d53f532079	fixed computation of range measurement timestamp Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
CarlOlsson	8d60da1442	removed old wind initialization	9 years ago
CarlOlsson	51c8715638	fixed issue with airspeed never fused	9 years ago
Paul Riseborough	d1d56d9e5e	EKF: Add logic to to control wind state estimation	9 years ago
Paul Riseborough	75bec44b94	EKF: add function to initialise wind states	9 years ago
Paul Riseborough	6dff2df28e	EKF: Add method to reset wind state covariances Set variances in polar coordinates and rotate into cartesian frame	9 years ago
Paul Riseborough	a9894d7e8c	EKF: improve efficiency of airspeed fusion Don't compute array entries where the result will be zero	9 years ago
Roman Bapst	df0f8fed45	fixed wrong condition on which gps height would be fused (#180 ) - this solves the issue where height innovations would jump between two regimes Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
Youssef Demitri	168d9add76	added getter function for wind states	9 years ago
Beat Küng	73b8ac954d	ekf_helper.cpp: remove unused includes This fixes a compile error with GCC 5.2.0 and cross-compilation: /usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope not_supported = ENOTSUP, The problem was that the #include <iomanip> was taken from the host system, which conflicts with includes from NuttX (NuttX has only basic C++ STL support)	9 years ago
Lucas De Marchi	2240eb6b4f	Move __STDC_FORMAT_MACROS to build system (#174 ) __STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow defining format macros for printf-like functions. It needs to be defined before any include is done, otherwise due to include chains and header guards it may not take effect. Instead of defining it everywhere it is used, let the PX4 build system to deal with it.	9 years ago
Paul Riseborough	a2d866520a	EKF: perform innovation check in all axes before fusing 3D mag data (#171 ) Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.	9 years ago
Paul Riseborough	f5e9ea1626	EKF: Prevent potential divide by zero	9 years ago
Paul Riseborough	eb2afc522d	EKF: fix bug preventing use of baro as a backup height source	9 years ago
Paul Riseborough	573f252b73	EKF: fix bug preventing GPS use as a backup height source	9 years ago
Paul Riseborough	5f9752cac8	EKF: Improve function names	9 years ago
Paul Riseborough	7bc9217f00	EKF: Clean up control of observation fusion All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon. Information and warning messages are improved.	9 years ago
Beat Küng	9a95898414	gps_message: remove time_usec_vel from struct (unused)	9 years ago
Roman Bapst	1b394460a3	fix comment about filter bias states Signed-off-by: Roman Bapst <roman@px4.io>	9 years ago
Roman Bapst	bec1a6831e	added method to get gyro bias Signed-off-by: Roman Bapst <roman@px4.io>	9 years ago
Roman	703fb4e31b	do not return early in velocity reset method otherwise some code will not be executed	9 years ago
Paul Riseborough	f26aca55a1	EKF: Fix bug in quaternion covariance initialisation function The covariances between quaternion and non-quaternion states were not being updated	9 years ago
Paul Riseborough	b3baab64f2	EKF: Updates to 3-axis mag fusion auto-code The code fragments for the magnetometer fusion have been refreshed from the auto-coder. Explicit floating point types used for constants. The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.	9 years ago
Paul Riseborough	21168f9929	EKF: fix bug in 3-axis mag fusion innovation test The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement	9 years ago
Paul Riseborough	99b34f0df4	EKF: Only reset necessary terms when mag fusion covariance reset required Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.	9 years ago
Paul Riseborough	381d99aed6	EKF: Inform console of serious fusion numerical errors	9 years ago
Paul Riseborough	dbfe8c0242	EKF: remove approximation in mag fusion innovation variance calculation The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.	9 years ago
Paul Riseborough	79228352e9	EKF: Reset mag and wind state variances to 'reasonable' values If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery	9 years ago
Paul Riseborough	34ffffa021	EKF: Prevent use of non time-stamped invalid data during initialisation Fixes bad height initialisation seen intermittently with snapdragon	9 years ago
CarlOlsson	eded0a8f7e	activate tas fusion, off by default	9 years ago
Paul Riseborough	081e17729c	EKF: delay commencement of 3D mag fusion until clear of ground Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.	9 years ago
Roman Bapst	670c6ca019	change state reset information interface for more convenient handling on firmware side	9 years ago
Paul Riseborough	f08aee0a7d	EKF: Fix covariance index bug	9 years ago
Julian Oes	b8e2f79005	EKF: correct include paths	9 years ago
Julian Oes	ecfd8c867a	EKF: use ECL printfs everywhere - Changes all printfs to ECL printfs - Add ECL_ERR. - Include ecl.h where needed. - Add forgotten pragma once.	9 years ago
Paul Riseborough	6a55d908c5	EKF: replace reset event times with event counters Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.	9 years ago
Paul Riseborough	70f76e1a6c	EKF: publish innovation consistency check fail status	9 years ago
Paul Riseborough	e371a303a9	EKF: publish the quaternion reset event	9 years ago
Paul Riseborough	81ca167da8	EKF: align output observer to EKF states on startup	9 years ago
Paul Riseborough	3ec9221c18	EKF: update output observer and capture reset event for EV yaw resets	9 years ago
Paul Riseborough	9ec09f5f4e	EKF: update output observer and capture reset event for magnetic heading resets	9 years ago

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718 Commits (75d1ed894c3c8a2ece2c6af1d27c5dfd015bfe09)