29d383edbf
EKF: Allow mag field estimates to stabilise before use
7 years ago
363edf5eb9
EKF: Fix yaw reset for fixed wing
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Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
7 years ago
7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat
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EKF: Enable operation with arbitrary External Vision reference frame
7 years ago
5fd006ca48
EKF: remove redundant code
7 years ago
368248fe6d
Merge pull request #353 from PX4/pr-expo_int_cast
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EKF: use uint64_t cast for XeY to avoid float casting of variables
7 years ago
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
7 years ago
bba3f70a0e
EKF: reduce prediction time step from 12 to 8 sec
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Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
7 years ago
01d68ef67c
EKF: Enable use of rotated external nav estimates
7 years ago
f921b2de5c
Merge pull request #348 from PX4/pr-ekfAddImuBiasReset
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EKF: Add method to enable the IMU bias states to be reset externally
7 years ago
063533afae
EKF: Add method to enable the IMU bias states to be reset externally
7 years ago
cd2ca57ec2
Merge pull request #339 from PX4/ekfPosCtrlLimits-wip
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Ekf pos ctrl limits wip
7 years ago
22a51c6afd
PX4_ISFINITE -> ISFINITE
7 years ago
9e13a2cb21
tecs move initialization
7 years ago
31a8e047d7
tecs one line setters and group
7 years ago
4f2d571c89
tecs fix code style
7 years ago
79995b2c15
Create total energy control system implementation
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This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
7 years ago
9eb860fabd
travis-ci fix gcc and clang compilation jobs ( #344 )
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- allow the python testing to fail without failing the entire build
7 years ago
e10ec59058
EKF: Use consistent test for navigation validity reporting
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This will enable controller to take advantage of non-inertial dead reckoning.
7 years ago
19074fdd9e
EKF: Use consistent time limit for inertial dead reckoning test
7 years ago
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
7 years ago
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
7 years ago
e4ffe199ed
EKF: fix bug in sideslip fusion activation
7 years ago
59f1c3e19e
EKF: Update dead-reckoning definition
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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
7 years ago
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
7 years ago
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
7 years ago
204a218ee6
EKF: Allow dead-reckoning using air data
7 years ago
f5fd90533a
fix gps and flow flag handling
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gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
7 years ago
9857fb9eb6
EKF: publish control limits for optical flow navigation
7 years ago
afa8844eb7
Merge pull request #341 from CarlOlsson/fix/fw_yaw_align2
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EKF: If aligning yaw for fw with low GPS velocity, use mag
7 years ago
2e03084d34
EKF: If aligning yaw for fw with low GPS velocity, use mag
7 years ago
61e0c04811
Merge pull request #338 from CarlOlsson/fix/fw_pos_reset
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EKF: Fix bug when resetting position and velocities for fw due to som…
7 years ago
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
410697cb0c
Merge pull request #337 from CarlOlsson/fix/comment
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EKF: fixed comment
7 years ago
8c83167857
EKF: fixed comment
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
32b795ee10
EKF: Add readme file to EKF documentation directory
7 years ago
8dd4800a2c
EKF: Add preliminary documentation for filter mathematics
7 years ago
a34bba87fc
Merge pull request #322 from PX4/pr-ekfMagFusionMode
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EKF Add mag fusion mode for VTOL
7 years ago
dbff89fbcb
EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW
7 years ago
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
7 years ago
e834522f62
EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic
7 years ago
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
7 years ago
9c65968c3d
Merge pull request #334 from PX4/pr-ekf_minor_flow_fix
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ekf: fix optical flow bugs
7 years ago
68bad48598
Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var
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EKF: added get_wind_velocity_var function
7 years ago
4db23b7b2e
EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks
7 years ago
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
7 years ago
cdf6e6cd36
EKF: use delta_time to avoid division by zero
7 years ago
d293c4231d
EKF: Protect against divide by zero caused by invalid optical flow
7 years ago
ab9b8e1964
EKF: Prevent bad optical flow quality causing loss of aiding when on ground
7 years ago
b7e589b98a
EKF: only fuse optical flow if terrain is valid
7 years ago
81a64c0479
ekf: fix flow direction when on ground
7 years ago
Paul Riseborough
Paul Riseborough
ChristophTobler
ChristophTobler
Daniel Agar
CarlOlsson