Paul Riseborough
092cc52838
EKF: Remove out of date comment
2017-03-10 14:18:13 +11:00
Nic
ec1a14bc6b
height counter needs to be updated with ev counter value when our primary height source is set to ev
2017-01-05 21:47:13 -08:00
Paul Riseborough
3c4c09593f
EKF: Rationalise console messages
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Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
2016-12-28 10:39:47 +01:00
Paul Riseborough
934890c2df
EKF: Add validity flag to ekf origin reporting
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Flag is false until the origin has been initialised
2016-12-28 00:56:09 +01:00
Dennis Mannhart
b154ce9c33
Fixed include for snapdragon
2016-12-23 10:22:25 +01:00
Lorenz Meier
9618adb542
Simplify switch logic for validator
2016-12-21 08:10:08 +01:00
Lorenz Meier
6f78ef4084
Update validator to provide correct response for single sensor usage
2016-12-17 20:44:46 +01:00
Lorenz Meier
aad3a2b751
Validator: Trim down printing and do not reset init state
2016-12-17 17:39:55 +01:00
Lorenz Meier
75520641a5
Make the equal value threshold configurable
2016-12-17 15:25:29 +01:00
Lorenz Meier
00dbffe11d
Validator whitespace fixes
2016-12-17 13:45:28 +01:00
Lorenz Meier
bf8a9a3d09
EKF: Whitespace fixes
2016-12-17 13:45:28 +01:00
Lorenz Meier
6282c72d2e
Validation: Whitespace fixes
2016-12-17 13:45:28 +01:00
Lorenz Meier
10c6ae77ae
Attitude fw yaw: Initialize yaw rate properly
2016-12-17 13:45:28 +01:00
Daniel Agar
983c44088f
fw att fix pitch feedforward constrained roll
2016-11-27 12:34:12 +01:00
Paul Riseborough
a776b2c549
EKF: Fix bug preventing reset to GPS position when using optical flow
2016-11-26 10:28:58 +01:00
Paul Riseborough
460c9e5250
EKF: Don't try to fuse air data if not in normal aiding mode
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Taking off before passing GPS checks would cause airspeed or sideslip to be fused when the filter was still using a constant position assumption. This would cause large airspeed innovations, invalid wind estimates and degrade filter performance after GPS was gained and position and velocity was reset.
2016-11-26 10:28:58 +01:00
Paul Riseborough
5ad329b641
EKF: Fix variable names to match convention
2016-11-07 22:23:12 +11:00
Paul Riseborough
afd6e54b2a
EKF: Allow for worst case timing jitter when setting observation buffer length
2016-11-07 11:50:16 +11:00
Paul Riseborough
403424d55d
EKF: fix cross compiler build errors
2016-11-07 09:38:44 +11:00
Paul Riseborough
d5b398ddb1
EKF: Minimise data buffer lengths
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Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
2016-11-07 09:06:45 +11:00
Paul Riseborough
750a8874c1
EKF: Improve recovery and reporting for badly conditioned sideslip fusion
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Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
2016-11-05 12:19:01 +01:00
Paul Riseborough
6c7703d485
EKF: Update tuning for synthetic sideslip fusion
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Used value that worked well for replay of flight logs
2016-11-05 12:19:01 +01:00
Paul Riseborough
f76a2a5ff7
EKF: fix bug in sideslip fusion and reduce RAM usage
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The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
2016-11-05 12:19:01 +01:00
Paul Riseborough
951c8b77af
EKF: Improve wind state reset logic
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Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
2016-11-05 12:19:01 +01:00
Paul Riseborough
2fedbc8a18
EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency
2016-11-05 12:19:01 +01:00
Paul Riseborough
352b4ca177
EKF: Allow sideslip fusion with airspeed fusion
2016-11-05 12:19:01 +01:00
Paul Riseborough
fb6f4be453
EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning
2016-11-05 12:19:01 +01:00
CarlOlsson
a9182259a5
fixed bug in beta fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
0e3ae4b323
fixed issue with the covariance update in synthetic sideslip fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
e1d9d503e3
updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated
2016-11-05 12:19:01 +01:00
CarlOlsson
dec686afd7
updated parameters
2016-11-05 12:19:01 +01:00
CarlOlsson
5205a8198b
added function to control when to fuse beta
2016-11-05 12:19:01 +01:00
CarlOlsson
f5d0228cd5
include ecl.h
2016-11-05 12:19:01 +01:00
CarlOlsson
beb90f008d
adopted code for upstream changes
2016-11-05 12:19:01 +01:00
CarlOlsson
b7a4a1358f
added sidelip_fusion.cpp
2016-11-05 12:19:01 +01:00
CarlOlsson
12aeaafbd3
adopted estimator_interface.h
2016-11-05 12:19:01 +01:00
CarlOlsson
c8e3c24150
adopted ekf_helper.cpp
2016-11-05 12:19:01 +01:00
CarlOlsson
8f6c75bb0b
adopted ekf.h
2016-11-05 12:19:01 +01:00
CarlOlsson
15768f6f93
adopted ekf.cpp
2016-11-05 12:19:01 +01:00
CarlOlsson
738414d36e
adopted common.h
2016-11-05 12:19:01 +01:00
CarlOlsson
6c9cc5691c
adopted EKF/CMakeLists
2016-11-05 12:19:01 +01:00
CarlOlsson
daf44dcd67
adopted CMakeLists
2016-11-05 12:19:01 +01:00
Paul Riseborough
283c328c23
Merge pull request #212 from PX4/pr-ekfCriticalBugFix
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EKF: Fix bug causing repeated resets if GPS sensor disconnected
2016-11-05 09:43:24 +11:00
Paul Riseborough
8aee45dd96
EKF: Fix bug causing repeated resets if GPS sensor disconnected
2016-11-05 09:36:06 +11:00
Paul Riseborough
2bc50489fd
Merge pull request #210 from PX4/remove_KH
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EKF: reduce KH to only the elements that are really needed, and merge the loops
2016-11-05 09:24:13 +11:00
Beat Küng
07c6aabd98
EKF: reduce KH to only the elements that are really needed, and merge the loops
2016-11-02 10:26:40 +01:00
Paul Riseborough
1b59a89a18
EKF: save some stack memory
2016-11-02 09:06:06 +01:00
Beat Küng
f472324ae8
DataValidatorGroup: remove the assert
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(avoid crashes in flight)
2016-11-01 22:49:20 +01:00
Beat Küng
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
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Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
2016-11-01 22:49:20 +01:00
Beat Küng
227938d263
DataValidatorGroup: add add_new_validator() to dynamically add new validators
2016-11-01 22:49:20 +01:00
