px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	6cadc92285	EKF: Don't reject saturated flow data when it is the only aiding source	7 years ago
Daniel Agar	c5b2f59f57	PX4 style fixes (excluding EKF generated code)	7 years ago
Paul Riseborough	9747dc778d	EKF: Rework nav validity reporting Remove duplicate checking for dead reckoning and consolidate into a single function. Use separate timers to check for start of dead reckoning and check when dead reckoning has been performed for too long for the nav solution to be valid. Allow the timeout for validity reporting to be adjusted externally. Separate external reporting of dead reckoning from internal checks.	7 years ago
Daniel Agar	cd12f049fe	move geo and geo_lookup from PX4 Firmware to ECL	7 years ago
Paul Riseborough	8e30c2666d	EKF: Add support auxiliary velocity observation This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.	7 years ago
Daniel Agar	d9c8af54bd	EKF add print_status() with memory usage	7 years ago
Daniel Agar	75d1ed894c	EKF simplify RingBuffer allocation check	7 years ago
Paul Riseborough	af7004ef01	EKF: report observation buffer allocation errors	7 years ago
Paul Riseborough	d785a19c0a	EKF: delay final allocation of observation buffers until required	7 years ago
Daniel Agar	ed9a394029	EKF RingBuffer avoid copying	7 years ago
Paul Riseborough	e10ec59058	EKF: Use consistent test for navigation validity reporting This will enable controller to take advantage of non-inertial dead reckoning.	7 years ago
ChristophTobler	cdf6e6cd36	EKF: use delta_time to avoid division by zero	7 years ago
Paul Riseborough	d293c4231d	EKF: Protect against divide by zero caused by invalid optical flow	7 years ago
Paul Riseborough	ab9b8e1964	EKF: Prevent bad optical flow quality causing loss of aiding when on ground	7 years ago
ChristophTobler	81a64c0479	ekf: fix flow direction when on ground	7 years ago
Paul Riseborough	fed4a9bc5a	EKF: add vertical position derivative output Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode. Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor. Provide separate accessor for vertical position derivative.	8 years ago
Paul Riseborough	16c7041f4a	EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter	8 years ago
Daniel Agar	87fdee440b	EKF estimator_interface coverity fix 139419	8 years ago
Daniel Agar	b3f8fd19e0	EKF estimator_interface coverity fix 140490, 140491	8 years ago
Daniel Agar	3919d60f66	ekf2 initialization fixes	8 years ago
Paul Riseborough	c3f966f53e	EKF: remove clang build error message	8 years ago
Paul Riseborough	c607941e2f	EKF: Allow external setting of air density for multi-rotor drag fusion	8 years ago
Paul Riseborough	3758c5a09d	EKF: down-sample drag specific force data	8 years ago
Paul Riseborough	465b145929	EKF: Add multi-rotor drag model for wind estimation	8 years ago
Paul Riseborough	0d7e7e9d81	EKF: Don't use EKF origin in GPS drift check calculation The GPS drift calculations need to be able to run independently of the EKF origin.	8 years ago
Paul Riseborough	2426f1dd3a	EKF: remove use of memset to initialise variable When using a union of flags and integer value it is safer to initialise the value to 0 rather than memset the flags because the flags may not define all bits in the integer.	8 years ago
Paul Riseborough	040639837e	EKF: Use common timeout test for reporting deadreckoning Use a parameter to set the time-out threshold Use a class variable for the time-out flag Clean up comments	8 years ago
Paul Riseborough	9bb54ccc08	EKF: don't accept GPS data without a 3D lock	8 years ago
Paul Riseborough	af26ade1ce	EKF: Use norm for vector length everywhere	8 years ago
Daniel Agar	2750961be6	c++11 initialization cleanup (#237 )	8 years ago
Daniel Agar	47b8ef258b	clang-tidy performance-type-promotion-in-math-fn (#236 )	8 years ago
Paul Riseborough	bcf7cac5d9	EKF: remove hardcoded limit on optical flow time delta Allow for up to 50% lost data.	8 years ago
Paul Riseborough	3fb7effb0c	EKF: Allow optical flow use when on-ground with poor data quality	8 years ago
Lorenz Meier	453bde73f8	ECL: Simplify / correct estimator interface	8 years ago
Roman	c5a55d97aa	initialise data members properly - dot not use memset for struct with non POD types Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Paul Riseborough	1465adca2f	EKF: Improve use of memcpy Changes made to remove Coverity scan errors	8 years ago
Paul Riseborough	26a06567bb	EKF: add missing initialisation for class variables	8 years ago
Paul Riseborough	f999729d70	EKF: fix incorrect use of memcpy	8 years ago
Paul Riseborough	3c4c09593f	EKF: Rationalise console messages Combine the observation action buffer and alignment messages Ensure all data timeout messages are warnings. Use consistent terminology.	8 years ago
Paul Riseborough	5ad329b641	EKF: Fix variable names to match convention	8 years ago
Paul Riseborough	afd6e54b2a	EKF: Allow for worst case timing jitter when setting observation buffer length	8 years ago
Paul Riseborough	d5b398ddb1	EKF: Minimise data buffer lengths Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.	8 years ago
Paul Riseborough	b10b0184c5	EKF: Add IMU vibration calculation and reporting Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration	8 years ago
Paul Riseborough	744b79c1b2	EKF: Publish innovation test ratios	8 years ago
Roman	d53f532079	fixed computation of range measurement timestamp Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
Lucas De Marchi	2240eb6b4f	Move __STDC_FORMAT_MACROS to build system (#174 ) __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
Julian Oes	b8e2f79005	EKF: correct include paths	9 years ago
Julian Oes	ecfd8c867a	EKF: use ECL printfs everywhere - Changes all printfs to ECL printfs - Add ECL_ERR. - Include ecl.h where needed. - Add forgotten pragma once.	9 years ago
Paul Riseborough	733862f649	EKF: move the reset status struct to the Ekf class This protects it from being modified externally	9 years ago
Paul Riseborough	4237269fab	EKF: add struct to capture state reset events	9 years ago

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93 Commits (e8e9e34a73d3eda0923245e4ac1495b9fc52ae0d)