px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	70a3b91217	EKF: Update magnetometer fusion derivations	9 years ago
Paul Riseborough	a711632017	EKF: Add method to fuse horizontal magnetometer data This method is more suitable than a raw heading measurement because it works across a full range of pitch angles. It has been made the default for ground operation.	9 years ago
mcsauder	4ce4724105	Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.	9 years ago
Paul Riseborough	6df6ac0023	EKF: Fix sign error in heading innovation calculation and clean up	9 years ago
Paul Riseborough	90e1bd3e36	EKF: wrap compass yaw estimate	9 years ago
Paul Riseborough	7d6226eb45	EKF: Improve efficiency of yaw angle fusion Use direct calculation of Kaman gains with optimised algebra	9 years ago
Paul Riseborough	7f121e81e4	EKF: Update yaw innovation calculation to match revised derivation The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.	9 years ago
mcsauder	72243c4a84	Resolve tab/space differences with upstream master.	9 years ago
mcsauder	437f6ca5fb	Moved initialization to object constructors to allow C99 compiler compatibility.	9 years ago
Lorenz Meier	2b2c490382	Validator: Add function for 1D use of the 3D validator	9 years ago
bugobliterator	ba7f0fc9ff	EKF: add licensing information for mathlib header and src	9 years ago
bugobliterator	80632cc12c	EKF: add comments and licensing information to builder files	9 years ago
bugobliterator	e65c348905	EKF: add travis build	9 years ago
bugobliterator	a40eb7cf37	EKF: add check for existence of matrix submodule	9 years ago
Siddharth Bharat Purohit	64a7b14171	update readme to include steps to build EKF shared object	9 years ago
bugobliterator	cba5271785	add matrix submodule	9 years ago
bugobliterator	2f05f778de	ignore build directory	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	9 years ago
Paul Riseborough	96c0e18acb	Merge pull request #49 from PX4/pr-fixMagCovariance EKF: Fix magnetometer fusion and covariance handling	9 years ago
Roman Bapst	678d6f45cc	Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix EKF: fix time of sample receive setting	9 years ago
bugobliterator	2096e24c06	EKF: fix time of sample receive setting	9 years ago
Paul Riseborough	a679cdf1fb	EKF: Change parameter default to not fuse declination when aiding Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.	9 years ago
Paul Riseborough	abf9476853	EKF: miscellaneous formatting and typo updates	9 years ago
Paul Riseborough	ffe1d30864	EKF: Set covariances to zero for un-used states	9 years ago
Paul Riseborough	294aca8609	EKF: Improve variance limiting for stationary states Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.	9 years ago
Paul Riseborough	1d40507af8	EKF: Set Kaman gains to zero for un-used states This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.	9 years ago
Paul Riseborough	69b8982043	EKF: Initialise variances to zero for un-used states Setting these variances to zero makes it less likely that these states will be modified by fusion processing.	9 years ago
Paul Riseborough	d9bf4e9870	EKF: Enable control mode transitions to be detected Save the previous value of the filter control modes	9 years ago
Paul Riseborough	402206a305	EKF: Fix critical bug in fusion of yaw and declination observations This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.	9 years ago
Paul Riseborough	d8afca5e7a	EKF derivations: Correct error in direct yaw and declination angle fusion The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values. The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.	9 years ago
Paul Riseborough	7da40a45a4	EKF: Add control mode for wind state estimation	9 years ago
Paul Riseborough	de02aebafd	EKF: Reset covariance matrix when doing a yaw and magnetic field reset The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed	9 years ago
Paul Riseborough	dba58aa4c6	EKF: Add control logic for fusion modes	9 years ago
Paul Riseborough	22c177c951	EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode	9 years ago
Paul Riseborough	c089079321	EKF: Split tilt and yaw align	9 years ago
Paul Riseborough	020cc5978e	EKF: Move calculation of declination into a separate function	9 years ago
Paul Riseborough	aa58b3e98c	EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function	9 years ago
Paul Riseborough	2bbe7f9a1c	EKF: Update magnetometer fusion to use declination from the specified source	9 years ago
Paul Riseborough	83945581ed	EKF: Add function to calculate the magnetic declination to use	9 years ago
Paul Riseborough	9017e077f8	EKF: Publish the magnetic declination we wish to save for next startup	9 years ago
Paul Riseborough	0308f2f796	EKF: Add parameters to control declination source and fusion type	9 years ago
Paul Riseborough	6140d4b21f	EKF: Add function to reset yaw and magnetic field states	9 years ago
Roman	ad978c642f	estimator interface: added flag for in_air status of vehicle	9 years ago
Roman	ce0ddc0207	-added comments -removed unused print functions -removed false _imu_time_last variable (correct is _time_last_imu)	9 years ago
Paul Riseborough	9d7340e187	EKF: Fix bugs in position and velocity resets The position reset was not being compensated for velocity and measurement delay The height was being reset with the position. It has been moved into a separate reset function The maximum accepted GPS delay of 100msec was inadequate The states was being incorrectly reset to the GPS position and Baro height on initial alignment.	9 years ago
Paul Riseborough	da1de2cc4d	EKF: Correct for sensor noise and baro offset during alignment	9 years ago
Roman Bapst	d21ce70eeb	Merge pull request #45 from CarlOlsson/move_fuse_function_to_helper moved fuse function to ekf_helper.cpp	9 years ago
CarlOlsson	1e766c7510	moved fuse function to ekf_helper.cpp	9 years ago
Lorenz Meier	0a9f7e58db	Merge pull request #43 from PX4/pr-baroHeightOffset Correct for sensor noise and baro offset during alignment	9 years ago
Paul Riseborough	fff2bd50f6	EKF: Fix bugs in position and velocity resets The position reset was not being compensated for velocity and measurement delay The height was being reset with the position. It has been moved into a separate reset function The maximum accepted GPS delay of 100msec was inadequate The states was being incorrectly reset to the GPS position and Baro height on initial alignment.	9 years ago

... 15 16 17 18 19 ...

954 Commits (75d1ed894c3c8a2ece2c6af1d27c5dfd015bfe09) All Branches Search

954 Commits (75d1ed894c3c8a2ece2c6af1d27c5dfd015bfe09)

All Branches