px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Roman	0c77ebf6bd	EKF: Reduce likelihood of bad covariance values after height resets The cross terms (covariances) are now reset before the variance variance is set. The vertical velocity state variance following a reset without GPS has been reduced.	9 years ago
Paul Riseborough	469a7d1711	EKF: rework height reset calculate and save the amount that the vertical states have changed and the time of the change apply the change delta to the output observer states and buffer	9 years ago
Paul Riseborough	2fa8a11a29	EKF: replace unnecessary memcopy	9 years ago
Paul Riseborough	31bf342fc1	EKF: publish GPS check status	9 years ago
Paul Riseborough	e10093854a	EKF: correct outputs for IMU offset	9 years ago
Paul Riseborough	74078cde94	EKF: reset state variance when performing a height reset Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.	9 years ago
Paul Riseborough	f4f108d57d	EKF: Reset vertical velocity when performing a height reset	9 years ago
CarlOlsson	f8878d41dc	adopted ekf_helper.cpp	9 years ago
Paul Riseborough	6b2e2dba90	EKF: Add GPS height option and improve height recovery	9 years ago
Paul Riseborough	c58ab3e256	EKF: Enable fallback to baro alt when using range finder for height	9 years ago
Paul Riseborough	370f643f42	EKF: Enable use of range finder for primary height source	9 years ago
Paul Riseborough	e0fcce1463	EKF: Make position and velocity reset publish success Some users of the position and velocity reset functions will need to know if the reset has been successful.	9 years ago
Paul Riseborough	32b03819ef	EKF: Add function to calculate global position validity	9 years ago
Paul Riseborough	270451e17b	EKF: Update height reset to support range finder height use	9 years ago
Paul Riseborough	f7a53d69f2	EKF: Improve height reset function Add a method to reset the vertical velocity to enable in-flight resets Reset to GPS height if baro height is not available.	9 years ago
Roman Bapst	9192ced7bb	do not reset output attitude state after heading reset to avoid jumps in attitude	9 years ago
Paul Riseborough	cd0cac066a	EKF: Calculate and publish horizontal and vertical position accuracy This calculation takes into account the uncertainty of the origin. Dead reckoning status is also published	9 years ago
Paul Riseborough	380db7ebef	EKF: Reset angle error covariance after yaw and mag field reset The yaw angle could have changed by a significant amount making the correlations invalid. Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting	9 years ago
bugobliterator	263c48d089	EKF: remove dependecies and allow ekf to be built as standalone shared lib	9 years ago
Paul Riseborough	de02aebafd	EKF: Reset covariance matrix when doing a yaw and magnetic field reset The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed	9 years ago
Paul Riseborough	83945581ed	EKF: Add function to calculate the magnetic declination to use	9 years ago
Paul Riseborough	6140d4b21f	EKF: Add function to reset yaw and magnetic field states	9 years ago
Roman	ce0ddc0207	-added comments -removed unused print functions -removed false _imu_time_last variable (correct is _time_last_imu)	9 years ago
Paul Riseborough	9d7340e187	EKF: Fix bugs in position and velocity resets The position reset was not being compensated for velocity and measurement delay The height was being reset with the position. It has been moved into a separate reset function The maximum accepted GPS delay of 100msec was inadequate The states was being incorrectly reset to the GPS position and Baro height on initial alignment.	9 years ago
Paul Riseborough	da1de2cc4d	EKF: Correct for sensor noise and baro offset during alignment	9 years ago
CarlOlsson	1e766c7510	moved fuse function to ekf_helper.cpp	9 years ago
Paul Riseborough	fff2bd50f6	EKF: Fix bugs in position and velocity resets The position reset was not being compensated for velocity and measurement delay The height was being reset with the position. It has been moved into a separate reset function The maximum accepted GPS delay of 100msec was inadequate The states was being incorrectly reset to the GPS position and Baro height on initial alignment.	9 years ago
Paul Riseborough	40e174b81c	EKF: Correct for sensor noise and baro offset during alignment	9 years ago
bugobliterator	d79e12dfa1	EKF: fix code style	9 years ago
bugobliterator	251996d387	ekf: move gps checks to Ekf library from estimator_base	9 years ago
Paul Riseborough	46b0e9654c	Add filter control logic	9 years ago
Roman	8d0022ab1e	enable estimator state and innovations data logging	9 years ago
nickolasrossi	dfbbd36ff7	fix buffer overflow in constrain of wind velocity	9 years ago
Roman	2a88fc6cfd	initialise vertical position correctly	9 years ago
Mark Charlebois	b8837b4dc6	Added hexagon support std::to_string is not supported in the Hexagon complier Signed-off-by: Mark Charlebois <charlebm@gmail.com>	9 years ago
Roman	f153a7cb44	added ifdef guard	9 years ago
Roman	8de8b0eb76	prediction and vel pos heading fusion working	9 years ago
Roman	b3491bcfc3	added file with ekf helper functions	9 years ago
Lorenz Meier	e5743d503c	Initial import	9 years ago

39 Commits (c6775b5bf2f69042982454c72f7f0c55e9f5e979)