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Group velocity and position as a 3d vector

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kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent beedf1ce4f
commit dae8c2f8dc
7 changed files with 326 additions and 368 deletions
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EKF/common.h
+13 -18
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@@ -210,12 +210,6 @@ struct auxVelSample {
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
// VelPos measurement bundles indices
#define HVEL 0 ///< x and y velocity bundle index
#define VVEL 1 ///< z velocity bundle index
#define HPOS 2 ///< x and y position bundle index
#define VPOS 3 ///< z position bundle index
// bad accelerometer detection and mitigation
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_BIAS_PNOISE 4.9f ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
@@ -407,18 +401,19 @@ union fault_status_u {
// define structure used to communicate innovation test failures
union innovation_fault_status_u {
struct {
bool reject_vel_NED: 1; ///< 0 - true if velocity observations have been rejected
bool reject_pos_NE: 1; ///< 1 - true if horizontal position observations have been rejected
bool reject_pos_D: 1; ///< 2 - true if true if vertical position observations have been rejected
bool reject_mag_x: 1; ///< 3 - true if the X magnetometer observation has been rejected
bool reject_mag_y: 1; ///< 4 - true if the Y magnetometer observation has been rejected
bool reject_mag_z: 1; ///< 5 - true if the Z magnetometer observation has been rejected
bool reject_yaw: 1; ///< 6 - true if the yaw observation has been rejected
bool reject_airspeed: 1; ///< 7 - true if the airspeed observation has been rejected
bool reject_sideslip: 1; ///< 8 - true if the synthetic sideslip observation has been rejected
bool reject_hagl: 1; ///< 9 - true if the height above ground observation has been rejected
bool reject_optflow_X: 1; ///< 10 - true if the X optical flow observation has been rejected
bool reject_optflow_Y: 1; ///< 11 - true if the Y optical flow observation has been rejected
bool reject_hor_vel: 1; ///< 0 - true if horizontal velocity observations have been rejected
bool reject_ver_vel: 1; ///< 1 - true if vertical velocity observations have been rejected
bool reject_hor_pos: 1; ///< 2 - true if horizontal position observations have been rejected
bool reject_ver_pos: 1; ///< 3 - true if true if vertical position observations have been rejected
bool reject_mag_x: 1; ///< 4 - true if the X magnetometer observation has been rejected
bool reject_mag_y: 1; ///< 5 - true if the Y magnetometer observation has been rejected
bool reject_mag_z: 1; ///< 6 - true if the Z magnetometer observation has been rejected
bool reject_yaw: 1; ///< 7 - true if the yaw observation has been rejected
bool reject_airspeed: 1; ///< 8 - true if the airspeed observation has been rejected
bool reject_sideslip: 1; ///< 9 - true if the synthetic sideslip observation has been rejected
bool reject_hagl: 1; ///< 10 - true if the height above ground observation has been rejected
bool reject_optflow_X: 1; ///< 11 - true if the X optical flow observation has been rejected
bool reject_optflow_Y: 1; ///< 12 - true if the Y optical flow observation has been rejected
} flags;
uint16_t value;