px4_autopilot

Commit Graph

Author	SHA1	Message	Date
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	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	9ec09f5f4e	EKF: update output observer and capture reset event for magnetic heading resets	9 years ago
Paul Riseborough	aca0336392	EKF: update vertical position and velocity reset capture Use reset event struct members instead of separate variables	9 years ago
Paul Riseborough	0605c88ecc	EKF: capture horizontal position reset events	9 years ago
Paul Riseborough	e3a1b4a3b3	EKF: capture velocity reset events	9 years ago
Paul Riseborough	79705da7e6	EKF: make output predictor states consistent with position reset	9 years ago
Paul Riseborough	54d90261d5	EKF: make output predictor states consistent with velocity reset	9 years ago
Paul Riseborough	ad02818b3d	EKF: Improve height reset for external vision reset to measurement closest in time to fusion time horizon	9 years ago
Paul Riseborough	1b6c5bbafd	EKF: Enable height source to be selected independent of EV aiding	9 years ago
Paul Riseborough	ae5071f668	EKF: Improve heading reset Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.	9 years ago
Paul Riseborough	94a63ec9d5	EKF: don't interfere with quaternion covariances during tilt alignment	9 years ago
Paul Riseborough	e4b2e9c93d	EKF: Improve yaw alignment Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle. Allows alignment of yaw angle using external vision data	9 years ago
Paul Riseborough	57b2a256f7	EKF: Improve initialisation of quaternion covariances Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions. Enable setting of initial angle uncertainty via a parameter	9 years ago
Paul Riseborough	1540e937b1	EKF: Improve tilt alignment monitoring Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.	9 years ago
Paul Riseborough	81469d6621	EKF: Add position, height and velocity reset for EV aiding	9 years ago
Paul Riseborough	25682dce91	EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow	9 years ago
Paul Riseborough	7f5669fb2d	EKF: consolidate covariance corrections Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function. This ensures a consistent correction is applied after every covariance prediction or correction.	9 years ago
Paul Riseborough	da9d894441	EKF: Improvements to covariance reset	9 years ago
Paul Riseborough	fe9f88a8b4	EKF: test new derivation Use direct attitude parameterisation Discard scale factors Add accel bias	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	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	2fa8a11a29	EKF: replace unnecessary memcopy	9 years ago
Paul Riseborough	31bf342fc1	EKF: publish GPS check status	9 years ago
Paul Riseborough	e10093854a	EKF: correct outputs for IMU offset	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
CarlOlsson	f8878d41dc	adopted ekf_helper.cpp	9 years ago
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	9 years ago
Paul Riseborough	c58ab3e256	EKF: Enable fallback to baro alt when using range finder for height	9 years ago
Paul Riseborough	370f643f42	EKF: Enable use of range finder for primary height source	9 years ago
Paul Riseborough	e0fcce1463	EKF: Make position and velocity reset publish success Some users of the position and velocity reset functions will need to know if the reset has been successful.	9 years ago
Paul Riseborough	32b03819ef	EKF: Add function to calculate global position validity	9 years ago
Paul Riseborough	270451e17b	EKF: Update height reset to support range finder height use	9 years ago
Paul Riseborough	f7a53d69f2	EKF: Improve height reset function Add a method to reset the vertical velocity to enable in-flight resets Reset to GPS height if baro height is not available.	9 years ago
Roman Bapst	9192ced7bb	do not reset output attitude state after heading reset to avoid jumps in attitude	9 years ago
Paul Riseborough	cd0cac066a	EKF: Calculate and publish horizontal and vertical position accuracy This calculation takes into account the uncertainty of the origin. Dead reckoning status is also published	9 years ago
Paul Riseborough	380db7ebef	EKF: Reset angle error covariance after yaw and mag field reset The yaw angle could have changed by a significant amount making the correlations invalid. Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	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	83945581ed	EKF: Add function to calculate the magnetic declination to use	9 years ago
Paul Riseborough	6140d4b21f	EKF: Add function to reset yaw and magnetic field states	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
CarlOlsson	1e766c7510	moved fuse function to ekf_helper.cpp	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
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	9 years ago

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61 Commits (9a95898414b4c16ecdccbab4c8f5271045bfdaf4)