28 Commits

Author	SHA1	Message	Date
Paul Riseborough	a37daf4cec	ekf2: Add position observation noise parameter for flying without GPS ... A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).	2016-02-05 18:28:32 +01:00
Paul Riseborough	8f020d5a8f	ekf2: Update tuning parameters ... Set conservative defaults as a baseline for tuning Add a missing parameter for magnetometer observation noise. Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise). Update documentation and display names for consistency.	2016-02-05 18:28:32 +01:00
Roman	c75cc75d25	ekf2 module: be consistent in constructor	2016-01-31 22:28:19 +01:00
bugobliterator	0f43a1ebbb	ekf2: fix code style	2016-01-31 22:12:11 +01:00
bugobliterator	04ad8ca594	ekf: change the name of estimatorr interface class	2016-01-31 22:12:11 +01:00
Paul Riseborough	92f0032475	ekf2: Add tuning parameters for GPS and Baro innovation gates	2016-01-31 22:12:11 +01:00
bugobliterator	6ffcca4b8f	ekf2_main: fix variable pass type	2016-01-31 22:12:11 +01:00
Paul Riseborough	92f2492fff	ekf2: update interface method for vehicle arm status and NED origin	2016-01-31 22:12:11 +01:00
Paul Riseborough	4594b3c69d	ekf2: Add parameters for magnetometer error checks	2016-01-31 22:12:11 +01:00
Paul Riseborough	5e4f76d844	ekf2: Add parameters and support for GPS quality checks	2016-01-31 22:12:11 +01:00
Julian Oes	563460444a	ekf2: get the rad to deg conversion right	2016-01-25 19:03:16 +01:00
Julian Oes	28754d3f58	ekf2: don't reset GPS position in every loop	2016-01-25 19:03:16 +01:00
Roman	c185a12c8e	log ekf2 innovations and innovation variances	2016-01-22 14:24:36 +01:00
Roman	21f7641e8d	log ekf2 estimator status	2016-01-22 14:24:36 +01:00
Lorenz Meier	7452cfdf63	EKF2: Fix polling code	2016-01-22 14:21:19 +01:00
Lorenz Meier	1cfa9d924d	Fixed ekf2 stop / start routine	2016-01-22 12:07:17 +01:00
Lorenz Meier	c32938d2a8	EKF2: Update params only as they change	2016-01-22 11:45:29 +01:00
tumbili	93a9032f87	ekf2: parameter cleanup	2016-01-22 11:40:35 +01:00
Roman	e6d2d17109	initialise topic structs properly	2016-01-21 07:25:18 +01:00
Roman	0510d2cb56	fixed code style	2016-01-10 21:14:58 +01:00
Roman	fe07079367	added parameter interface to ekf2	2016-01-10 21:14:58 +01:00
Lorenz Meier	276855acd2	EKF2: Remove todo	2016-01-01 11:39:16 +01:00
Paul Riseborough	28f5cb8fe6	ekf2: Changes required to enter POSCTL mode ... Adds missing local position and global position data	2016-01-01 12:30:12 +11:00
Roman	b958928095	publish rates and quaternion on attitude topic	2015-12-23 11:40:25 +01:00
Lorenz Meier	2d50002973	Fix stack settings of EKF2	2015-12-23 06:23:16 +01:00
tumbili	07abac3ea4	ekf2 publish attitude position and control state	2015-12-23 06:23:15 +01:00
Roman	63ac712eab	allow testing ekf2 in simulation with jmavsim	2015-12-23 06:23:15 +01:00
Roman	19a5f9e73d	updated ecl lib	2015-12-23 06:23:15 +01:00