352750e5d1
EKF: publish ekf solution status summary data
8 years ago
007e73379f
EKF: Improve reporting of position error
8 years ago
744b79c1b2
EKF: Publish innovation test ratios
8 years ago
5ab90048e1
Merge pull request #184 from PX4/pr-rngDelayFix
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fixed computation of range measurement timestamp
8 years ago
b29174d86b
Merge pull request #193 from PX4/pr-haglInit
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Pr hagl init
8 years ago
5702c2d51b
Merge pull request #186 from priseborough/pr-ekfOutputPredictor
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EKF: Improve Output Predictor Tracking
8 years ago
b5ba4f280f
EKF: reduce output predictor velocity time constant
8 years ago
65762e5998
EKF: publish output predictor tracking errors
8 years ago
c81f9f1dba
EKF: Reduce output predictor tracking errors
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Implements a PI tracking loop
8 years ago
4fefe5c6c6
cmake: stack size args cleanup
8 years ago
616aeb9ad7
ekf_helper: fix forgotten return value
8 years ago
fd403b733d
CMakeLists: don't always optimize for size
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Going forward the optimization flags should be set for a platform,
rather than for each individual module.
8 years ago
c6e1d97176
terrain estimator: initialise with projection
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
cc05db4985
terrain estimator: pass initialisation return value correctly
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
d53f532079
fixed computation of range measurement timestamp
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
7240fc78fe
Merge pull request #183 from CarlOlsson/cont_wind_estimation
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Fix wind state and wind variance initialization
9 years ago
eab57b0187
Merge pull request #189 from PX4/revert-188-matrix_update
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Revert "Update matrix."
9 years ago
e5b74f511f
Revert "Update matrix."
9 years ago
90f6bd7f3d
Merge pull request #188 from PX4/matrix_update
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Update matrix.
9 years ago
1daea6c1a3
Update matrix.
9 years ago
8d60da1442
removed old wind initialization
9 years ago
51c8715638
fixed issue with airspeed never fused
9 years ago
d1d56d9e5e
EKF: Add logic to to control wind state estimation
9 years ago
75bec44b94
EKF: add function to initialise wind states
9 years ago
6dff2df28e
EKF: Add method to reset wind state covariances
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Set variances in polar coordinates and rotate into cartesian frame
9 years ago
eff9af549f
scripts: derive conversion from polar to cartesian wind state covariance
9 years ago
a9894d7e8c
EKF: improve efficiency of airspeed fusion
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Don't compute array entries where the result will be zero
9 years ago
df0f8fed45
fixed wrong condition on which gps height would be fused ( #180 )
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- this solves the issue where height innovations would jump
between two regimes
Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
168d9add76
added getter function for wind states
9 years ago
73b8ac954d
ekf_helper.cpp: remove unused includes
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This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
9 years ago
2240eb6b4f
Move __STDC_FORMAT_MACROS to build system ( #174 )
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__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.
Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
9 years ago
4f8ffb3420
promote to float (for internal representation) before scaling by format multiplier ( #175 )
9 years ago
a2d866520a
EKF: perform innovation check in all axes before fusing 3D mag data ( #171 )
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Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
9 years ago
5e0a229ee8
data_validator cleanup: use dimensions variable, use static for some constants ( #167 )
9 years ago
0cc0008927
Merge pull request #166 from georgehines/matlab-log-import
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add double support
9 years ago
eaae95fdc4
Merge pull request #160 from priseborough/pr-ekf2Improvements
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EKF: clean up fusion control logic
9 years ago
f5e9ea1626
EKF: Prevent potential divide by zero
9 years ago
eb2afc522d
EKF: fix bug preventing use of baro as a backup height source
9 years ago
573f252b73
EKF: fix bug preventing GPS use as a backup height source
9 years ago
5f9752cac8
EKF: Improve function names
9 years ago
7bc9217f00
EKF: Clean up control of observation fusion
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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
9a95898414
gps_message: remove time_usec_vel from struct (unused)
9 years ago
f467e714bd
add double support
9 years ago
1b394460a3
fix comment about filter bias states
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Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
bec1a6831e
added method to get gyro bias
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Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
74a77b45b2
Add DOI
9 years ago
16bdbebdc6
Merge pull request #161 from PX4/pr-resetFix
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do not return early in velocity reset method
9 years ago
703fb4e31b
do not return early in velocity reset method otherwise
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some code will not be executed
9 years ago
928a7dd059
Merge pull request #157 from PX4/pr-ekf2ResetInterface
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Change state reset information interface
9 years ago
2024252d65
Merge pull request #158 from CarlOlsson/act_ars_off_by_default
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activate tas fusion, off by default
9 years ago
Paul Riseborough
Paul Riseborough
Julian Oes
Roman
James Goppert
James Goppert
CarlOlsson
Youssef Demitri
Beat Küng
Lucas De Marchi
georgehines
George Hines
Roman Bapst
Lorenz Meier
Roman