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EKF: fixed some comment typos

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
Carl Olsson
2019-03-18 10:20:33 -04:00
committed by Daniel Agar
parent 6e77b197c7
commit f0889c1760
27 changed files with 133 additions and 134 deletions
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EKF/common.h
+10 -10
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@@ -143,7 +143,7 @@ struct airspeedSample {
struct flowSample {
uint8_t quality; ///< quality indicator between 0 and 255
Vector2f flowRadXY; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotaton is positive
Vector2f flowRadXY; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotation is positive
Vector3f gyroXYZ; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive
float dt; ///< amount of integration time (sec)
uint64_t time_us; ///< timestamp of the integration period leading edge (uSec)
@@ -185,7 +185,7 @@ struct auxVelSample {
#define MASK_USE_OF (1<<1) ///< set to true to use optical flow data
#define MASK_INHIBIT_ACC_BIAS (1<<2) ///< set to true to inhibit estimation of accelerometer delta velocity bias
#define MASK_USE_EVPOS (1<<3) ///< set to true to use external vision NED position data
#define MASK_USE_EVYAW (1<<4) ///< set to true to use exernal vision quaternion data for yaw
#define MASK_USE_EVYAW (1<<4) ///< set to true to use external vision quaternion data for yaw
#define MASK_USE_DRAG (1<<5) ///< set to true to use the multi-rotor drag model to estimate wind
#define MASK_ROTATE_EV (1<<6) ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
#define MASK_USE_GPSYAW (1<<7) ///< set to true to use GPS yaw data if available
@@ -195,8 +195,8 @@ struct auxVelSample {
#define MAG_FUSE_TYPE_HEADING 1 ///< Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
#define MAG_FUSE_TYPE_3D 2 ///< Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
#define MAG_FUSE_TYPE_AUTOFW 3 ///< The same as option 0, but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states.
#define MAG_FUSE_TYPE_INDOOR 4 ///< The same as option 0, but magnetomer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
#define MAG_FUSE_TYPE_NONE 5 ///< Do not use magnetomer under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
#define MAG_FUSE_TYPE_INDOOR 4 ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
#define MAG_FUSE_TYPE_NONE 5 ///< Do not use magnetometer under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
// Maximum sensor intervals in usec
#define GPS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GPS measurements (uSec)
@@ -218,7 +218,7 @@ struct parameters {
int32_t sensor_interval_min_ms{20}; ///< minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers. (mSec)
// measurement time delays
float min_delay_ms{0.0f}; ///< Maximmum time delay of any sensor used to increse buffer length to handle large timing jitter (mSec)
float min_delay_ms{0.0f}; ///< Maximum time delay of any sensor used to increase buffer length to handle large timing jitter (mSec)
float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec)
float baro_delay_ms{0.0f}; ///< barometer height measurement delay relative to the IMU (mSec)
float gps_delay_ms{110.0f}; ///< GPS measurement delay relative to the IMU (mSec)
@@ -287,7 +287,7 @@ struct parameters {
float vehicle_variance_scaler{0.0f}; ///< gain applied to vehicle height variance used in calculation of height above ground observation variance
float max_hagl_for_range_aid{5.0f}; ///< maximum height above ground for which we allow to use the range finder as height source (if range_aid == 1)
float max_vel_for_range_aid{1.0f}; ///< maximum ground velocity for which we allow to use the range finder as height source (if range_aid == 1)
int32_t range_aid{0}; ///< allow switching primary height source to range finder if certian conditions are met
int32_t range_aid{0}; ///< allow switching primary height source to range finder if certain conditions are met
float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion
float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
float range_stuck_threshold{0.1f}; ///< minimum variation in range finder reading required to declare a range finder 'unstuck' when readings recommence after being out of range (m)
@@ -321,7 +321,7 @@ struct parameters {
// output complementary filter tuning
float vel_Tau{0.25f}; ///< velocity state correction time constant (1/sec)
float pos_Tau{0.25f}; ///< postion state correction time constant (1/sec)
float pos_Tau{0.25f}; ///< position state correction time constant (1/sec)
// accel bias learning control
float acc_bias_lim{0.4f}; ///< maximum accel bias magnitude (m/sec**2)
@@ -343,7 +343,7 @@ struct parameters {
float vert_innov_test_lim{4.5f}; ///< Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
int bad_acc_reset_delay_us{500000}; ///< Continuous time that the vertical position and velocity innovation test must fail before the states are reset (uSec)
// auxilliary velocity fusion
// auxiliary velocity fusion
float auxvel_noise{0.5f}; ///< minimum observation noise, uses reported noise if greater (m/s)
float auxvel_gate{5.0f}; ///< velocity fusion innovation consistency gate size (STD)
@@ -352,7 +352,7 @@ struct parameters {
};
struct stateSample {
Quatf quat_nominal; ///< quaternion defining the rotaton from earth to body frame
Quatf quat_nominal; ///< quaternion defining the rotation from earth to body frame
Vector3f vel; ///< NED velocity in earth frame in m/s
Vector3f pos; ///< NED position in earth frame in m
Vector3f gyro_bias; ///< delta angle bias estimate in rad
@@ -443,7 +443,7 @@ union filter_control_status_u {
uint32_t fuse_beta : 1; ///< 15 - true when synthetic sideslip measurements are being fused
uint32_t update_mag_states_only : 1; ///< 16 - true when only the magnetometer states are updated by the magnetometer
uint32_t fixed_wing : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
uint32_t mag_fault : 1; ///< 18 - true when the magnetomer has been declared faulty and is no longer being used
uint32_t mag_fault : 1; ///< 18 - true when the magnetometer has been declared faulty and is no longer being used
uint32_t fuse_aspd : 1; ///< 19 - true when airspeed measurements are being fused
uint32_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
uint32_t rng_stuck : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough