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1,699 Commits 852 Branches 161 Tags
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Commit Graph
1294 Commits
Author SHA1 Message Date
bresch 02369cd415 gps_alt: extract measurement variance computation and saturation 2020-12-13 14:39:50 +11:00
Daniel Agar 1541e4b414 EKF: update control status and fault status getters 
- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
 2020-12-10 09:13:12 -05:00
zhaoxiaowei fbf67bdef9 reset gps height use vacc 2020-12-10 10:07:59 +01:00
Mathieu Bresciani 8f3df7a97b flow: restructure optical flow control logic (#928) 
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
 2020-12-09 11:33:00 +01:00
Daniel Agar 688a054bdb EKF: controlDragFusion() add parenthesis for readability 2020-12-08 18:03:04 -05:00
Paul Riseborough 944b18c63e EKF: Remove non useful status print 
Local position is never valid when filter is initialised so there is no use printing the status.
 2020-12-08 18:03:04 -05:00
Paul Riseborough ee94980a8f EKF: Clean up wind state activation logic 
Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
 2020-12-08 18:03:04 -05:00
Paul Riseborough 44ebfb8c43 EKF: Don't report local position as valid when in a non-position mode 2020-12-08 18:03:04 -05:00
Daniel Agar da7d41e78a EKF: add mag bias reset helper and update IMU bias reset to match (#924) 2020-12-08 12:16:59 -05:00
Daniel Agar 03cfcb903e EKF: RingBuffer minor improvements 
- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
 2020-12-03 20:48:51 -05:00
bresch da9f314b69 mag: use strength in Gauss 2020-11-10 20:25:09 +11:00
Claudio Micheliandbresch c4d162f9a0 EKF: range_finder parameterize range sensor quality hysteresis time 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-11-04 12:35:39 -05:00
Daniel Agar 6158d6d841 EKF: add const reference getters for status flags 2020-11-02 13:05:08 -05:00
Daniel Agar a21092804a EKF: remove virtual getters from estimator_interface 2020-11-02 09:35:47 -05:00
Daniel Agar 48a8992caf EKF: move small simple getters to header 
- return by const reference where possible
 2020-10-30 09:48:45 -04:00
Daniel Agar defb35d8f5 EKF: pass imuSample by const reference 2020-10-30 09:47:22 -04:00
Daniel Agar d85e24d3ca EKF: Ekf class is final 2020-10-27 08:53:58 -04:00
Daniel Agar 5ea8824439 EKF: inline simple getters 2020-10-27 08:53:58 -04:00
Daniel Agar 6e99ebd928 EKF: add fault status bit for bad vertical accel data 2020-10-26 17:37:15 +01:00
Daniel Agar d936b85d71 EKF: add fault status bit for clipping 2020-10-26 17:37:15 +01:00
Mathieu Bresciani dd3ffc4192 Optical flow: compute velociy from corrected flow data for logging (#920) 
This is really useful when debugging optical flow data
 2020-10-26 13:27:52 +01:00
Paul Riseborough f666ebb995 EKF: Code format fix - replace 1E-x with 1e-x 2020-10-06 20:50:52 +11:00
Paul Riseborough e82d0af6d2 EKF: Improve code clarity - non functional change 2020-10-06 20:50:52 +11:00
Paul Riseborough 759d217d5a EKF: Improve protection for GSF weight collapse 2020-10-06 20:50:52 +11:00
Paul Riseborough 7c81350c7a EKF: Don't yaw reset if not yaw induced nav failure 2020-10-06 20:50:52 +11:00
Paul Riseborough bf0d70fc90 EKF: Protect against collapse of GSF weights 2020-10-06 20:50:52 +11:00
Daniel Agar 4c2355a638 EKF: use GPS to lookup declination from WMM before full GPS checks pass 2020-09-28 08:43:32 +02:00
bresch 5879eaaf78 ekf: fix variable length array error 
Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it.
Using sizeof...(Idxs) fixes the error.
 2020-09-25 11:33:29 +02:00
Daniel Agar fab242a81f python generation add shebang, mark executable, ignore cache 
- commit all current generated files
 2020-09-07 09:20:41 +02:00
bresch 264c8c4e86 mag_fusion: mag heading and 3d modes are mutually exclusive 
There is no need to check if 3d fusion is active when in mag heading
fusion mode since this is impossible
 2020-08-27 15:48:40 +10:00
kamilritz 9797e4d28f updateYawInRotMat with hidden rotation sequence handling 2020-08-27 09:51:56 +10:00
kamilritz 4fb4e0ca01 Clean euler321 and euler312 code and comment 2020-08-27 09:51:56 +10:00
Kamil Ritz 2be738e806 Add helper function to alter heading in rotation matrices 2020-08-27 09:51:56 +10:00
Kamil Ritz fdc86c247a add functions to compute yaw (321 and 312 sequence) 
from quaternion and rotation matrix
 2020-08-27 09:51:56 +10:00
Kamil Ritz 15afa8ae17 shouldUse321RotationSequence(const Dcmf& R) 2020-08-27 09:51:56 +10:00
Kamil Ritz 4872f2a545 Remove not used code 2020-08-24 19:24:27 +10:00
Kamil Ritz 0fafd4d68b precompute cos and sin of yaw once before mutliple use 2020-08-24 19:24:27 +10:00
Kamil Ritz 114516b784 Use new added matrix functions 2020-08-24 19:24:27 +10:00
Kamil Ritz 1f637af7de Add const modifier 2020-08-24 19:24:27 +10:00
kamilritz aa2c77f92d Small cleanup in velposfusion 2020-08-24 18:04:57 +10:00
kamilritz 644e903552 Apply measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz 404edde7f3 Add measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz f6252ff533 small cleanup in limitDeclination 2020-08-24 18:04:57 +10:00
Paul Riseborough fd849e0578 EKF: Fix specific force observation noise variance 
Also add protection for out of range value.
 2020-08-18 17:05:59 +10:00
Paul Riseborough 76f393dcb0 EKF: Use const reference instead of local copy 2020-08-18 17:05:59 +10:00
Paul Riseborough c43307b8cf EKF: convert drag fusion from Matlab to SymPy generated auto-code 2020-08-18 17:05:59 +10:00
Paul Riseborough 1e6c6f2d3c EKF: update all output states when aligning output time horizon filter 2020-08-16 10:00:47 +10:00
kamilritz 3bd9415498 Make delayed output stayed not a member variable 2020-08-16 10:00:47 +10:00
kamilritz da9bfe4316 Update interface of applyCorrectionsToOuputStates 2020-08-16 10:00:47 +10:00
Paul Riseborough 64ab2b087a EKF: Only record successful sideslip fusion when states updated 2020-08-16 08:45:59 +10:00