px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	fd109b00ab	EKF: replace in-line code with existing function	9 years ago
Paul Riseborough	727a43764f	EKF: update initial angle alignment check	9 years ago
Paul Riseborough	bc34b14779	EKF: Initialise height state variance to a value compatible with the measurement A large height state variance and small measurement variance can destabilise the filter in the first few seconds after alignment	9 years ago
Paul Riseborough	29a361d3a3	EKF: Use intuitive units for gyro and accel bias process noise This also makes the tuning less sensitive to changes in the EKF update rate.	9 years ago
Paul Riseborough	799865c934	EKF: update default tuning parameters	9 years ago
Paul Riseborough	f01f4ae4b1	EKF: tidy up mag declination fusion	9 years ago
Paul Riseborough	0d31aad33a	EKF: Fix bad limit on magnetometer noise parameter	9 years ago
Paul Riseborough	7069fb7a04	EKF: refresh auto code for mag fusion	9 years ago
Paul Riseborough	ffea65e1a4	EKF: fix bug in state prediction	9 years ago
Paul Riseborough	63f093a10a	EKF: Update upper limits for state variances This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction	9 years ago
Paul Riseborough	26a51c667d	EKF: Improve robustness to initial gyro bias errors Allows for ~6 deg/sec of startup bias	9 years ago
Paul Riseborough	7530e30012	EKF: Improve IMU data collection Use IMU driver published delta angle integration time to determine when enough data has been accumulated. Perform basic first order sculling corrections on delta velocity data Comment steps to make make method clearer	9 years ago
Paul Riseborough	f23f0b1035	EKF: fix bugs in stationary process model covariance prediction Noise variance for stationary states was being overwritten by the covariance prediction operations for the kinematic states Unwanted states could end up with non-zero covariance values The forced symmetry operation was being applied too late to be effective	9 years ago
Paul Riseborough	a373ada858	EKF: explicitly define floating point type in hardcoded constants	9 years ago
Paul Riseborough	f4e84a2234	EKF: fix axis label error in comments	9 years ago
Paul Riseborough	82da832816	EKF: tidy up Kalman gain calculations Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.	9 years ago
Paul Riseborough	311d046a26	EKF: Enable optional activation of XY delta velocity bias estimation	9 years ago
Paul Riseborough	572c2280bd	EKF: tidy up covariance prediction	9 years ago
Paul Riseborough	54e713969d	EKF: Fix rebase error	9 years ago
Paul Riseborough	67d23948b5	EKF: preliminary re-tune	9 years ago
Paul Riseborough	03c35266ef	EKF: remove unused parameter	9 years ago
Paul Riseborough	fe9f88a8b4	EKF: test new derivation Use direct attitude parameterisation Discard scale factors Add accel bias	9 years ago
Daniel Agar	22d18d638c	enable Wshadow	9 years ago
Beat Küng	f2dda3c183	ekf: initialize _terrain_var, fixes access to uninitialized value in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the valgrind output: ==15439== Thread 14 ekf2: ==15439== Conditional jump or move depends on uninitialised value(s) ==15439== at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so) ==15439== by 0x4D1AF0: Ekf::get_terrain_vert_pos(float) (terrain_estimator.cpp:135) ==15439== by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655) ==15439== by 0x42BF3D: entry_adapter(void) (px4_posix_tasks.cpp:103) ==15439== by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so) ==15439== by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)	9 years ago
Roman	0c77ebf6bd	EKF: Reduce likelihood of bad covariance values after height resets The cross terms (covariances) are now reset before the variance variance is set. The vertical velocity state variance following a reset without GPS has been reduced.	9 years ago
Paul Riseborough	6c57bea1c3	EKF: fix bug in IMU error application timing patch	9 years ago
Paul Riseborough	15df20831a	EKF: improve output complementary filter tracking Optimise for height tracking and adjust gains automatically with changes in time delay.	9 years ago
Paul Riseborough	4fa1e9c651	EKF: Fix timing errors in state prediction IMU corrections were being applied at the wrong time horizon to the EKF states IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.	9 years ago
Julian Oes	f8a48f9cc5	ekf: now it should even compile for NuttX	9 years ago
Julian Oes	12f4d6f703	ekf: another stab at fixing isfinite for all The previous solution did not work for Snapdragon, so I needed to copy what is used in px4_defines.h.	9 years ago
Julian Oes	46e207106b	ekf: use `std::isfinite` instead of `isnan`	9 years ago
Paul Riseborough	4fcbfb5d42	EKF: correct error in comment	9 years ago
Paul Riseborough	3e81b86280	EKF: improve height reset logic Don't use failed sensors unless necessary and handle case where not height sensor is available for reset	9 years ago
Paul Riseborough	874558d194	EKF: improve detection of bad vert accel data Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.	9 years ago
Paul Riseborough	469a7d1711	EKF: rework height reset calculate and save the amount that the vertical states have changed and the time of the change apply the change delta to the output observer states and buffer	9 years ago
Paul Riseborough	e3365525c2	EKF: rework height reset logic	9 years ago
Paul Riseborough	421703c267	EKF: rework initialisation of height state and offsets	9 years ago
Paul Riseborough	a7417657c3	EKF: ensure fusion timeout counters are reset when required	9 years ago
Paul Riseborough	10bf05e9a6	EKF: publish the vertical position offset	9 years ago
Paul Riseborough	0de15b1b20	EKF: Add variables to monitor vertical position and height offset	9 years ago
Paul Riseborough	62c6d40f1f	EKF: Add methods to ring buffer to access specific indices	9 years ago
Paul Riseborough	b295f9050c	EKF: ensure GPS check status is correctly initialised	9 years ago
Roman Bapst	6344fa0e8c	limit maximum rates of all measurement at which they are stored into the buffers	9 years ago
Roman Bapst	00c8821006	disable airspeed fusion for now. Needs more testing and implementation of side slip fusion	9 years ago
Paul Riseborough	2fa8a11a29	EKF: replace unnecessary memcopy	9 years ago
Roman Bapst	99fc61c27c	ekf2 airspeed fusion: - finished logic for fusion - fixed bug where previous control status was set in the wrong location	9 years ago
Paul Riseborough	82920da232	EKF: strengthen checking of local position status provides immediate status reporting when dropping out of optical flow mode	9 years ago
Paul Riseborough	31bf342fc1	EKF: publish GPS check status	9 years ago
Paul Riseborough	6fa13c7806	EKF: publish control mode status	9 years ago
Roman Bapst	60abf07bee	added function to return accelerometer bias	9 years ago

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383 Commits (8125717bf5771d6ca32190ac7f95dcc2d78b20f6)