px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Roman	c8af315aa7	flow_fusion: corrected sign of gyro data when it is taken from the ekf gyro data Signed-off-by: Roman <bapstroman@gmail.com>	7 years ago
Paul Riseborough	de7c9d85a4	EKF: Handle flow data without valid gyro data	7 years ago
Paul Riseborough	d177e96508	EKF: Fix bug causing slow drift when high rate flow data is used High rate optical flow data could make flow fusion to run every major update cycle, resulting in the calculation of bias errors in the body rates used to compensate flow data failing time validity checks and not running. This resulted in a slow drift of the nav solution if bias errors were present in the in the gyro data used for flow sensor motion compensation.	7 years ago
Mohammed Kabir	b4d2b8c57d	EKF : introduce new architechture for navigation limits	7 years ago
Paul Riseborough	0160aaa568	EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing	7 years ago
Daniel Agar	c5b2f59f57	PX4 style fixes (excluding EKF generated code)	7 years ago
Daniel Agar	cd12f049fe	move geo and geo_lookup from PX4 Firmware to ECL	7 years ago
Paul Riseborough	1d3e8edc46	EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation	8 years ago
Daniel Agar	99ba1c3745	EKF trivial code style cleanup	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	e35921534d	EKF: fix reporting of optical flow fusion errors	8 years ago
Paul Riseborough	465b145929	EKF: Add multi-rotor drag model for wind estimation	8 years ago
Paul Riseborough	b536382ae1	EKF: remove dead code	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	7bc9217f00	EKF: Clean up control of observation fusion All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon. Information and warning messages are improved.	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	52229da089	EKF: capture optical flow innovation test failures	9 years ago
Paul Riseborough	724280fd1f	EKF: move calculation of optical flow observation variance into a function Allows it to be used when calculating initial state variance	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	9e53ff2f80	EKF: Improve protection against bad optical flow fusion	9 years ago
Paul Riseborough	da9d894441	EKF: Improvements to covariance reset	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	fe9f88a8b4	EKF: test new derivation Use direct attitude parameterisation Discard scale factors Add accel bias	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	b46053415f	EKF: Compensate optical flow data for sensor position offset	9 years ago
Paul Riseborough	48f980b054	EKF: Fix syntax causing posix build to fail	9 years ago
Paul Riseborough	dd1d58bab5	EKF: Remove unnecessary matrix operations from optical flow fusion The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.	9 years ago
Paul Riseborough	122dd9c531	EKF: Add source file for optical flow LOS rate fusion	9 years ago

32 Commits (b26c2d62b80d6bee148fbfe01eb36809bfa721ea)