px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Daniel Agar	c5b2f59f57	PX4 style fixes (excluding EKF generated code)	7 years ago
Paul Riseborough	ae069b12d6	EKF: Fix bug preventing wind relative dead reckoning	7 years ago
Daniel Agar	cd12f049fe	move geo and geo_lookup from PX4 Firmware to ECL	7 years ago
ChristophTobler	e388e59f32	EKF: use uint64_t cast for XeY to avoid float casting of variables The default type for XeY is float	7 years ago
Paul Riseborough	55a2dc94df	EKF: handle air data fusion covariance reset consistently Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.	7 years ago
Paul Riseborough	0d32128701	EKF: Use dead-reckoning status to determine if air data should modify non-wind states	7 years ago
CarlOlsson	8200e4b218	EKF: added get_wind_velocity_var function Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	7 years ago
Daniel Agar	99ba1c3745	EKF trivial code style cleanup	8 years ago
Paul Riseborough	cc5db74d1b	EKF: Add true airspeed accessor	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	951c8b77af	EKF: Improve wind state reset logic Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation. Wind states and covariances are reset differently depending on whether airspeed is available.	8 years ago
Beat Küng	07c6aabd98	EKF: reduce KH to only the elements that are really needed, and merge the loops	8 years ago
Paul Riseborough	1b59a89a18	EKF: save some stack memory	8 years ago
Beat Küng	25cb400da9	EKF: remove Ekf::KHP and move KHP to the methods where it's used Everywhere where KHP is used, it is first completely reset, thus making it unnecessary to keep it as a class member. This saves 2.3KB RAM. Stack sizes don't need changing, since there is already a function Ekf::predictCovariance(), which needs around 3KB of stack and is called close to where the fuse* functions are called.	8 years ago
Paul Riseborough	79df7e8889	EKF: Reduce effect of bad airspeed when other aiding data available	8 years ago
Paul Riseborough	75bec44b94	EKF: add function to initialise wind states	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
Youssef Demitri	168d9add76	added getter function for wind states	9 years ago
Paul Riseborough	381d99aed6	EKF: Inform console of serious fusion numerical errors	9 years ago
Paul Riseborough	65da9173b9	EKF: capture innovation checks and reset events in separate variables rename the innovation check status class variable and remove the reset flags from it.	9 years ago
Paul Riseborough	8125717bf5	EKF: remove un-used airspeed health class variable Airspeed rejection now is captured in _sensor_fault_status	9 years ago
Paul Riseborough	cf489f4248	EKF: capture airspeed innovation test failures	9 years ago
Carl Olsson	5217b73df1	added bad_airspeed reporting (#123 )	9 years ago
CarlOlsson	ee7d7aeb8a	fixed_airspeed_healthy_bug	9 years ago
Paul Riseborough	020b87933e	EKF: replace fault status struct with a union to facilitate logging	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	1126048a93	EKF: Improve protection against bad airspeed fusion	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	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
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
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
CarlOlsson	0fb1e0578b	added function for fusing airspeed	9 years ago

41 Commits (a74b7ef60bc3b6c7fc081c051eeeb9e2f5e6f863)