a17879ab91
matlab: miscellaneous EKF replay script file improvements
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Save APM and PX4 data into separate directories and level plots accordingly
8 years ago
3a7a66d360
matlab: improve EKF simulation fusion control
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Add ability to start before GPS checks pass.
Add ability to turn GPS fusion off and on during replay.
Add ability to turn Optical Flow fusion off and on during replay.
Add ability to turn Visual Odometry fusion off and on during replay.
Convert miscellaneous constants to parameters
8 years ago
dabf129daf
matlab: Update EKF replay script files
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Add automatic save of output results
8 years ago
8351e13c70
Matlab: update readme file and provide link to sample data set
8 years ago
9f61622044
Matlab: Improve efficiency of odometry derivation
8 years ago
510b8763ea
Matlab: Add basic implementation of EKF to support development testing
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
eff9af549f
scripts: derive conversion from polar to cartesian wind state covariance
9 years ago
4f8ffb3420
promote to float (for internal representation) before scaling by format multiplier ( #175 )
9 years ago
f467e714bd
add double support
9 years ago
a4728bc748
EKF: derive auto-code for quaternion state covariance initialisation
9 years ago
6ca8a36782
EKF: Add matlab derivation for calculation of rotation vector variance
9 years ago
a189c60d33
EKF: update code fragment text files
9 years ago
57d3036ee7
EKF: update derivation files
9 years ago
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
6ecbefd7e4
EKF: add matlab script to test complementary filter gains
9 years ago
9994aa7fdb
fix a field name that I missed last time
9 years ago
59df1a3552
rename log GUI consistent with its assumptions
9 years ago
62bdcf3e9b
supports APM dataflash logs
9 years ago
941d3bca0a
changes some graphics arguments for version compatibility, adds a viewer example to the usage samples script
9 years ago
684b41494e
adds estimator log viewer UI
9 years ago
3773d5a00d
removes accidentally commited px4log test file
9 years ago
eb41d25ff6
reduces update rate of progress display, stores message time (not TIME message) as floating point seconds, automatically extracts TIME message, updates usage samples accordingly
9 years ago
2ad21bc8c7
adds function header comments and method attribution
9 years ago
f6413a1924
renames test script for clarity
9 years ago
93fde19c25
changes some cell notation for speed
9 years ago
0e3a6e214c
completed low-overhead import script, added usage examples
9 years ago
8c8653a1a2
initial commit of matlab px4 log importer
9 years ago
c6bd93ed40
EKF: Include all output files generated by derivation script
9 years ago
ac71ec5d37
EKF: Fix scaling error in covariance prediction derivation
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The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
9 years ago
e9ccfdd484
EKF: Update derivation scripts and outputs
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Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
9 years ago
ea29e39e5b
EKF: Updated derivation of Jacobians for direct heading measurement
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Adds an alternative using a 312 Euler sequence.
9 years ago
70a3b91217
EKF: Update magnetometer fusion derivations
9 years ago
d8afca5e7a
EKF derivations: Correct error in direct yaw and declination angle fusion
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The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
9 years ago
a22886544d
EKF: Add missing Kalman gain to Declination fusion autocode
9 years ago
42a943b37e
EKF: Fix text errors introduced when editing optical flow fusion autocode fragment
9 years ago
384ce06110
EKF: Add alternative code fragments for optical flow fusion
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These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
9 years ago
dba462b9f3
EKF: Improve efficiency of optical flow fusion auto generated code fragments
9 years ago
83079e0e11
Inertial Nav EKF: add notes on use of generated code
9 years ago
b92c99073e
Update read
9 years ago
06e9d73268
Add derivation script files for inertial nav EKF
9 years ago
b3bd09d5b9
Rename directory
9 years ago
af6a196187
Add generated code for 24 state Nav Filter
9 years ago
363b7d8c36
Adding blank folders and instructions
9 years ago
Paul Riseborough
georgehines
George Hines
Paul Riseborough
Lorenz Meier