pom-genom3 3.5 released

Added by Anthony Mallet over 1 year ago


  • Fix constant_velocity model sometimes producing a singular covariance matrix.
  • Don't run the filter until a first measurement is present. This prevents form growing the uncertainty unnecessarily.
  • Change the behaviour of set_position(): it now merely sets the current state, fixing a previous issue with orientation setttings. The drawback is that any new position or orientation measurements will overwrite this.
  • Fix altimeter measurements not being reset after fusion.
  • Drop measurements older than maximum history length, instead of just warning the user.
  • Log prediction model, process noise and magnetic field settings in state log file.
  • Log measurement name vs. id mapping in the measurements log file.
  • Fix replaying of log files after slight format change in 3.4.



pom-genom3 3.3 released

Added by Anthony Mallet over 2 years ago


  • Add a configurable offset for each measurement frame
  • Log full quaternion instead of roll, pitch, yaw in log_measurements()
  • Check port existence in add_measurement()
  • Allow processing of measurements of an altimeter in body frame
  • Add set_filter_period() attribute to slow down the filter task
  • Be less verbose when not running at the requested period



pom-genom3 3.2 released

Added by Anthony Mallet over 4 years ago


  • Handle magnetometer in the measurement sources. Magnetometers must publish the magnetic field in the attitude part of the state, as an intrinsic measurement, using the vector part of the quaternion and a NaN scalar part.
  • Add set_mag() service, setting the expected magnetic field of the current location, in the NWU (X north, Y west, Z up) world frame.



pom-genom3 3.1 released

Added by Anthony Mallet almost 5 years ago


  • Add an attribute selecting the prediction model (constant velocity or constant acceleration)
  • Fix the replay service so that it can read newer log files
  • Add the variance of the state in the state log file
  • Log the delay of measurements (current time versus measurement time stamp)



pom-genom3 3.0 released

Added by Anthony Mallet about 5 years ago


  • Switch to openrobots2-idl
  • Fix syntactic issues with older eigen
  • Display the covariance matrix diagonal when it becomes not positive definite
  • Allow non-integer history length (to make it less than one second)
  • Warn if computation is too slow (more than 110% of the period for 2 periods in a row)



pom-genom3 2.3 released

Added by Anthony Mallet over 6 years ago


  • Fix conversion from euler angles to quaternion in the 'replay' service
  • Abort processing of history after computing for longer than the period. This helps in keeping up the desired output rate when many old measurements are received.
  • Use aio(7) for logging and drop log entries when io requests are too slow
  • Add a 'decimation' parameter to the log_state function
  • Decouple the position and orientation measurements. This allows a measurement producer to provide only the translation part of a pose (e.g. GPS, ...) or the orientation part (e.g. compas).
  • Try to fix non positive definite covariance matrix in the state. Altough this does not happen in practice, it can still be triggered when receiving very wrong measurements.
  • Add README.adoc from latest genom skeleton




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