Visual Tracking on Pixhawk - Revision history

S123369: /* Original ekf2 Module */

2016-02-01T18:02:38Z

Original ekf2 Module

← Older revision		Revision as of 20:02, 1 February 2016
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	To overcome the delay a complementary filter using the current IMU measurements is used (This is done in the '''calculateOutputStates''' function). This has pros and cons. While it does a good job at hiding the delay, big changes in the state estimate are not handled well as they are smoothed out by the filter.		To overcome the delay a complementary filter using the current IMU measurements is used (This is done in the '''calculateOutputStates''' function). This has pros and cons. While it does a good job at hiding the delay, big changes in the state estimate are not handled well as they are smoothed out by the filter.
	The smoothing seems to be a desired effect though, as the controllers in the Pixhawk are P-I-Lead, so discontinuities in the state estimates would result in erattic control.		The smoothing seems to be a desired effect though, as the controllers in the Pixhawk are P-I-Lead, so discontinuities in the state estimates would result in erattic control.

			==== Step Wise Fusion ====
			For most sensors the fusion algorithm assumes no correlation between measurements (eg GPS x,y,z measurement), this enables updates with each measurement individually, so no matrix has to be inverted.
			This is very computationally efficient, but does not allow handeling of the case where measurements are correlated.

	=== Changes to ekf2 Module ===		=== Changes to ekf2 Module ===

2016-02-01T17:58:44Z

Original ekf2 Module

@@ Line 191: / Line 191: @@
 == Software Overview ==
 === Original ekf2 Module ===
 === Changes to ekf2 Module ===
 === Motion Capture ===

2016-02-01T16:53:52Z

Software Overview

@@ Line 191: / Line 191: @@
 == Software Overview ==
 === Original ekf2 Module ===
 === Motion Capture ===
 == Important notes ==

2016-02-01T16:40:44Z

Aruco Markers

← Older revision		Revision as of 18:40, 1 February 2016
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	The marker used for the current setup is included in the git repo as a .png. It is ID 0 from the dictionary DICT_4x4_50 (#0).		The marker used for the current setup is included in the git repo as a .png. It is ID 0 from the dictionary DICT_4x4_50 (#0).
	It should be printed with a size of [10cm x 10cm]		It should be printed with a size of [10cm x 10cm].

	=== Starting Application ===		=== Starting Application ===

2016-02-01T16:40:30Z

Aruco Markers

← Older revision		Revision as of 18:40, 1 February 2016
Line 169:		Line 169:

	The marker used for the current setup is included in the git repo as a .png. It is ID 0 from the dictionary DICT_4x4_50 (#0).		The marker used for the current setup is included in the git repo as a .png. It is ID 0 from the dictionary DICT_4x4_50 (#0).
			It should be printed with a size of [10cm x 10cm]

	=== Starting Application ===		=== Starting Application ===

2016-02-01T16:39:01Z

Aruco Markers

← Older revision		Revision as of 18:39, 1 February 2016
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	The Aruco marker pacekage is documented at:		The Aruco marker pacekage is documented at:
	http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html		http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html
	This includes some rather nice examples (these will be in your openCV build folder, if you built them)		This includes some rather nice examples (these will be in your openCV build folder, if you built them).

			The marker used for the current setup is included in the git repo as a .png. It is ID 0 from the dictionary DICT_4x4_50 (#0).

	=== Starting Application ===		=== Starting Application ===

2016-02-01T16:37:07Z

Starting Application

← Older revision		Revision as of 18:37, 1 February 2016
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	should return 1		should return 1

	Start the tracking application on your PC with		Start the tracking application on your PC with:
	~~TODO ADD COMMAND EXAMPLE!~~		./tracker -d=0 -c=calib/camera.yml
			For a list of all options, start with no arguents

	Test that tracking is done by looking at the local position in QGroundControl. This can be done with a USB cable. Alternatively you could add a second telemetry radio.		Test that tracking is done by looking at the local position in QGroundControl. This can be done with a USB cable. Alternatively you could add a second telemetry radio.

2016-01-30T13:28:55Z

Aruco Markers

← Older revision		Revision as of 15:28, 30 January 2016
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	=== Aruco Markers ===		=== Aruco Markers ===
	http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html~~#gsc.tab=0~~		The Aruco marker pacekage is documented at:
			http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html
			This includes some rather nice examples (these will be in your openCV build folder, if you built them)

	=== Starting Application ===		=== Starting Application ===
	Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#Vision Tracking Specific Settings]].		Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#Vision Tracking Specific Settings]].

2016-01-30T13:27:27Z

Starting Application

@@ Line 166: / Line 166: @@
 http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html#gsc.tab=0
 === Starting Application ===
-Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#Vision Tracking Specific Settings]]
+Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#Vision Tracking Specific Settings]].
 == Software Overview ==

2016-01-30T13:23:40Z

Starting Application

← Older revision		Revision as of 15:23, 30 January 2016
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	http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html#gsc.tab=0		http://docs.opencv.org/master/d9/d6d/tutorial_table_of_content_aruco.html#gsc.tab=0
	=== Starting Application ===		=== Starting Application ===
	Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#~~Vision Tracking Specific Settings~~		Set the correct settings on the pixhawk according to [[Visual_Tracking_on_Pixhawk#Vision Tracking Specific Settings]]
	\|Vision Tracking Specific Settings]]

	== Software Overview ==		== Software Overview ==