00872fcaa3
EKF: ImuDownSampler pass imuSample as const reference
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- inline ImuDownSampler::getDownSampledImuAndTriggerReset()
- minor formatting and initialization cleanup
2020-02-18 13:20:52 -05:00
81c6d6655f
ekf: clean uncorrelateQuatStates function
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As the name can be ambiguous, it gets renamed
"uncorrelateQuatFromOtherStates".
Also replace the loops storing the values and reapplying them by simply
zeroing two slices (this also saves 130B of flash).
2020-02-13 14:33:32 +01:00
c6d5a74685
Update change indicator
2020-02-12 22:34:44 +01:00
05d391c785
Update test csv after functional fix
2020-02-12 22:03:22 +01:00
90ca012705
ekf_helper: restore oridinal quaternion decorrelation
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The intent of the function "uncorrelateQuatStates()" is to uncorrelathe quaternions from the other states but not between each other as they are and should remain linked alltogether.
Clearing the quaternions to quaternion covariances introduced unstabilities in other states (especially accel biases).
2020-02-12 22:03:22 +01:00
b6420d0b79
ekf: add vehicle at rest to flags
2020-02-12 18:58:24 +01:00
89bcebd631
EKF: Prevent covariance initialisation overwriting yaw variance
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Also typo fix
2020-02-05 15:20:34 +01:00
a3347b7e06
EKF: Use more conservative value for delta velocity bias process noise
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Smaller values have resulted in bias estimation divergence under some conditions
2020-02-05 15:20:34 +01:00
21054a4236
EKF: Fix bug causing incorrect covariance initialisation
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The covariance initialisation should not be performed before the quaternion states are initialised.
2020-02-05 15:20:34 +01:00
ed260c4f1d
validation: remove unused vibration metric
2020-02-04 23:37:05 -05:00
e52e2b88ed
Sensor Replay ( #717 )
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* Add primitive logging for Ekf
* Add python script to extract sensor data from ULog
* Add primitive sensor replay
* Add iris_gps data for sensor replay
* Add CI for functional change indication
* Update sensor replay flow data type
* update iris_gps_change indication
* test: Update EKF replay test documentation
Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com >
2020-02-01 20:41:12 +11:00
da752c9e30
Hot flow fusion fix
2020-01-28 17:19:51 +01:00
ee859e092a
Robustify timestamp checks ( #729 )
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* Robustify timestamp checks
* Remove lowerbound on sensor timestamp
* Add tests for fusion timeouts
* Inline and const time check functions
* Rename dead_reckoning time variable
2020-01-28 20:33:16 +11:00
f20726d47f
Expand auto-format coverage and tiny style changes
2020-01-27 16:54:25 +01:00
fbdd75da2e
Update CONTRIBUTING.md
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Co-Authored-By: Roman Bapst <bapstroman@gmail.com >
2020-01-27 10:42:17 +03:00
5d38b73072
Update description of Firmware build tests
2020-01-27 10:42:17 +03:00
e3af91c9ce
Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel)
2020-01-24 17:22:50 +04:00
a3e1eb9d50
Checkout to matching firmware if possible
2020-01-24 16:18:42 +03:00
f3d790a664
Update optical flow interface
2020-01-24 16:18:42 +03:00
cafb1400fb
estimator_interface: bugfix, set range sample correctly
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-01-24 13:03:04 +01:00
df37c9bf1d
First draft of the contribution guidelines
2020-01-24 09:31:49 +01:00
4b0e7b2cff
Remove filtering on external vision alignment
2020-01-24 08:23:12 +01:00
2fe16c4ffe
Update build instructions in readme
2020-01-24 09:03:48 +03:00
d63e4edfd8
Fix github actions
2020-01-23 16:31:42 +01:00
de33885658
Update setExtVisionData interface
2020-01-23 14:50:43 +01:00
ed916c8006
Auto Formatting with clang-format-6.0 ( #727 )
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* Add clang-format
* Auto-format AlphaFilter and RingBuffer
* Update to tab=8spaces
* Allow for 120 width
2020-01-23 20:56:10 +11:00
dbf0bd43e8
EKF: update wind covariance initialization
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-01-23 10:27:54 +11:00
37201fb071
Remove legacy imu interface
2020-01-23 09:34:07 +11:00
7c3a2f839b
Update range finder interface
2020-01-23 09:34:07 +11:00
4fb2d1b02e
Update range finder interface
2020-01-23 09:34:07 +11:00
9f0d8ed59e
Update mag interface
2020-01-23 09:34:07 +11:00
856961ba85
Update airspeed interface
2020-01-23 09:34:07 +11:00
b8a3ed5f09
Update baro interface
2020-01-23 09:34:07 +11:00
74ec80cdc7
Update gps interface
2020-01-23 09:34:07 +11:00
a19c29e708
EKF: Rework yaw fusion to remove singularity at +-90 deg yaw
2020-01-23 09:23:56 +11:00
fc7e8b848b
Run github actions also on PRs from forks
2020-01-22 09:47:19 +01:00
29cf7884c3
Test baro downsampling
2020-01-21 10:09:48 +03:00
b51ea4fe39
Test dynamic pressure compensation
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(cherry picked from commit b3d9334b5abe02f1d123519cfc74a875225eb0bd)
2020-01-21 10:09:48 +03:00
83b2abe434
protect against overflow
2020-01-21 10:09:48 +03:00
4be9ae8029
Compute the timestamp of average sample correctly
2020-01-21 10:09:48 +03:00
29c5954690
Move baro downsampling and dynamic pressure comp to ECL
2020-01-21 10:09:48 +03:00
d7d7b56519
Move mag down sampling to ECL lib
2020-01-21 09:36:02 +03:00
950e75e484
EKF_ringbuffer: minor missing space for style
2020-01-18 13:00:36 -05:00
26125c245d
Switch from jenkins to github actions
2020-01-17 11:02:57 -05:00
011b4c2e4e
data_validator_group: add a method to get the state of the sensor with the provided index
2020-01-15 12:20:47 -05:00
0f4439d281
optical flow: inhibit flow fusion only when the terrain estimate gets invalid
2020-01-15 16:07:17 +11:00
d06dc33ded
range_finder_checks: do not override range_hgt_valid flag with rng_stuck flag
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Thif fixes the issue where the range finder data is always set to valid
if not stuck.
2020-01-15 16:07:17 +11:00
d0fe1f032a
mag_fusion: re-introduce delay between mag reset and fusion, this was
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dropped during the mag fusion refactor PR #662
2020-01-15 14:40:06 +11:00
250d5b8acc
TECS: remove height rate complementary filter
2020-01-15 14:28:36 +11:00
8f70a10565
Added missing variable initializations
2020-01-14 15:16:25 +03:00
Daniel Agar