092cc52838
EKF: Remove out of date comment
8 years ago
e4a4427991
Revert "EKF: fix compile error"
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This reverts commit 6db552717d
8 years ago
6db552717d
EKF: fix compile error
8 years ago
a02a046f5e
EKF: Clean up auto-code files for body frame velocity measurements
8 years ago
e569578cf9
EKF: add derivation for body frame velocity measurements
8 years ago
eb4f5ecbb9
cmake add all EKF sources ( #243 )
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- trivial cmake cleanup
- travis-ci build with both gcc and clang
- update matrix to latest (matches PX4)
- closes #240
8 years ago
507f48a147
geo NULL to nullptr ( #242 )
8 years ago
0d77470efc
EKF: Use conservative reporting of velocity errors when aiding is lost
8 years ago
8070691aa4
EKF: Add accessor function for velocity accuracy
8 years ago
d6abf3f2e4
EKF: add accessor function for local position accuracy
8 years ago
b7d0b3c4d0
EKF: Improve naming of WGS-84 accuracy accessor function
8 years ago
d22599b440
EKF: Add reporting of inertial dead-reckoning status
8 years ago
7e2597ec28
update range sensor angle parameters in case they have changed
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
aa53f45f15
terrain estimator: removed unused hrt dependancy
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
6480fcc3d5
terrain estimator: fixed computation of filtered time since last range update
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- do not use hrt to compute delta time
- limit filter state
- do not use static variables
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
6561edb9a5
EKF: Clean up terrain estimation functionality.
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This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
8 years ago
8004e9fe7e
EKF: Make range finder data continuous check more robust
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Use a filtered arrival time delta to determine if range data is continuous
8 years ago
d94068b88a
EKF: Simplify calculation of height above terrain observation variance
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The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
8 years ago
3dadc98b43
EKF: enable scaling of range observation variance with height
8 years ago
cf9c8de167
EKF: Add arbitrary pitch offset for range sensor
8 years ago
d9688fae7d
EKF: Simplify terrain position validity check
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Remove the relative accuracy check that was false triggering close to ground
8 years ago
af26ade1ce
EKF: Use norm for vector length everywhere
8 years ago
6e5a9aabe1
Merge pull request #234 from PX4/pr-optFlowUpdates
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EKF: optical flow improvements
8 years ago
66b8f7ec5b
Removed obsolete fields from ECL control data
8 years ago
5363e8d307
Wheel controller: use library function to wrap pi
8 years ago
674ab3f81b
attitude_fw fix style
8 years ago
f22ad30ef3
removed turn compensation flag form control data since it's obsolete
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
e1f9874c82
wheel controller: fix computation and scaling of integrator
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
c4cc02b3f2
yaw controller: fix bug where roll for turn coordination was constrained
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wrongly
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
391b6dfd00
yaw controller: for now do not do turn compensation when inverted and use
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the roll setpoint as limit for turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
66b7773059
yaw controller: deactivate lateral acceleration control for now but
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put comment of how to do it properly
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
f300877db4
yaw controller: computed desired yaw rate based on coordinated turn constraint
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
4057defa53
pitch controller: removed turn offset compensation form pitch controller
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- turn compensation is included in the desired yawrate
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
55401ec1b0
fw attitude control: compute integrator correctly
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- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
ac7fc30ea7
fw attitude controllers: restructuring in order to allow acro flight mode
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- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
2750961be6
c++11 initialization cleanup ( #237 )
8 years ago
7883085e4a
clang-tidy readability-simplify-boolean-expr ( #235 )
8 years ago
47b8ef258b
clang-tidy performance-type-promotion-in-math-fn ( #236 )
8 years ago
bcf7cac5d9
EKF: remove hardcoded limit on optical flow time delta
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Allow for up to 50% lost data.
8 years ago
3fb7effb0c
EKF: Allow optical flow use when on-ground with poor data quality
8 years ago
21270bb06a
EKF: Use last known position when resuming OF aiding
8 years ago
453bde73f8
ECL: Simplify / correct estimator interface
8 years ago
c5a55d97aa
initialise data members properly
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- dot not use memset for struct with non POD types
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
1465adca2f
EKF: Improve use of memcpy
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Changes made to remove Coverity scan errors
8 years ago
26a06567bb
EKF: add missing initialisation for class variables
8 years ago
f999729d70
EKF: fix incorrect use of memcpy
8 years ago
b536382ae1
EKF: remove dead code
8 years ago
6358bbd257
EKF: remove self assignment
8 years ago
3b61528f0f
EKF3: initialise default value for EV fusion gate
8 years ago
9ddcba3ed0
EKF: remove un-used variable
8 years ago
Paul Riseborough
Paul Riseborough
Daniel Agar
Roman
devbharat
Andreas Antener
Lorenz Meier