Tree: 8bfdb0430c

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v1.13.0-BW

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Commit Graph

401 Commits (8bfdb0430c8de3926bede626b1c83322022bf6c2)

Author	SHA1	Message	Date
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
Roman Bapst	f32303de69	added function to return accelerometer bias	9 years ago
Lorenz Meier	3455931617	EKF init: Fix initialization statement	9 years ago
Daniel Agar	861c13f1fe	cmake STACK -> STACK_MAIN	9 years ago
Paul Riseborough	ea38aa130f	EKF: update default time delay parameter values	9 years ago
Paul Riseborough	8c55e36ca9	EKF: use common value for gravity	9 years ago
Paul Riseborough	163c08a3ac	EKF: Improve output observer documentation	9 years ago
Paul Riseborough	2dcc6e2053	EKF: Improve accuracy of state prediction ... Use an a common estimator value for gravity Use average orientation across update interval when rotating delta velocities	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	e10093854a	EKF: correct outputs for IMU offset	9 years ago
Paul Riseborough	b46053415f	EKF: Compensate optical flow data for sensor position offset	9 years ago
Paul Riseborough	48b105b748	EKF: correct range finder data for sensor position offset	9 years ago
Paul Riseborough	e89dbb9f63	EKF: correct GPS data for antenna position offset	9 years ago
Paul Riseborough	3580940e10	EKF: Add sensor position offset parameters	9 years ago
Paul Riseborough	006b6b58e4	EKF: fix bug in status print statement	9 years ago
Paul Riseborough	74078cde94	EKF: reset state variance when performing a height reset ... Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.	9 years ago
Paul Riseborough	f4f108d57d	EKF: Reset vertical velocity when performing a height reset	9 years ago
Lorenz Meier	f86ef34782	EKF: Fix error message which lied	9 years ago
Paul Riseborough	a352c2f4e3	EKF: Fix posix build error ... Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.	9 years ago
Paul Riseborough	430d4b1cf8	EKF: ensure data in buffers is zero at startup	9 years ago
Paul Riseborough	470098e182	EKF: update default tuning parameters ... Parameters needed to be changed when covariance prediction error was corrected. The magnetic earth and body field process noise now use separate parameters to help with tuning	9 years ago
Paul Riseborough	eaf94935f0	EKF: Fix bug in initialisation of height and magnetic field ... This prevents zero data being used to form the initial height and magnetic field. Do not start sampling initial values until non-zero time values are retrieved from the buffer.	9 years ago
Paul Riseborough	03eac2f25e	EKF: Apply covariance prediction derivation changes	9 years ago
CarlOlsson	8678a939e2	removed reinitialization of intermediate variables	9 years ago
CarlOlsson	eee6f1048f	Changed vtaspred threshold	9 years ago
CarlOlsson	3ad5b52aea	removed comment	9 years ago
CarlOlsson	616725410d	updated calculation	9 years ago
CarlOlsson	ec9902d802	added fault status reporting	9 years ago
CarlOlsson	1ea26b406a	change name to true_airspeed	9 years ago
Roman Bapst	27b894540e	put airspeed fusion logic but don't actually call it yet	9 years ago
Roman Bapst	1b7115dec9	increased airspeed fusion rate to 12.5Hz	9 years ago
CarlOlsson	f5a9afd278	moved init	9 years ago
CarlOlsson	f990d99790	fixed bug	9 years ago