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149 Commits

Author SHA1 Message Date
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092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00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 
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
5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough
403424d55d EKF: fix cross compiler build errors 2016-11-07 09:38:44 +11:00
CarlOlsson
15768f6f93 adopted ekf.cpp 2016-11-05 12:19:01 +01:00
Paul Riseborough
b29174d86b Merge pull request #193 from PX4/pr-haglInit 
Pr hagl init
 2016-10-04 08:21:15 +11:00
Paul Riseborough
65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Paul Riseborough
c81f9f1dba EKF: Reduce output predictor tracking errors 
Implements a PI tracking loop
 2016-10-03 14:13:07 +11:00
Roman
cc05db4985 terrain estimator: pass initialisation return value correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:07:50 +02:00
Paul Riseborough
7bc9217f00 EKF: Clean up control of observation fusion 
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
 2016-06-30 17:06:32 +10:00
Paul Riseborough
2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough
34ffffa021 EKF: Prevent use of non time-stamped invalid data during initialisation 
Fixes bad height initialisation seen intermittently with snapdragon
 2016-06-08 11:56:07 +10:00
CarlOlsson
eded0a8f7e activate tas fusion, off by default 2016-06-07 13:49:17 +02:00
Paul Riseborough
081e17729c EKF: delay commencement of 3D mag fusion until clear of ground 
Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
 2016-06-06 21:59:46 +10:00
Paul Riseborough
81ca167da8 EKF: align output observer to EKF states on startup 2016-06-01 17:13:00 +10:00
Paul Riseborough
733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough
aca0336392 EKF: update vertical position and velocity reset capture 
Use reset event struct members instead of separate variables
 2016-06-01 17:13:00 +10:00
Paul Riseborough
65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough
388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough
aea827aa8a EKF: ensure filter fault status is initialised 2016-06-01 17:13:00 +10:00
Paul Riseborough
106482b078 EKF: add structure to capture innovation test failures and state resets 2016-06-01 17:13:00 +10:00
Paul Riseborough
70c40d695d EKF: Initialise alignment noise filters using valid data 
Don't initialise the states for the alignment data noise filters until the buffers have been flushed
 2016-05-28 09:04:26 +10:00
Paul Riseborough
c905684c12 EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment 2016-05-28 08:28:57 +10:00
Paul Riseborough
98c0b74a71 EKF: Initialise height correctly when using external vision data 
If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
 2016-05-27 13:59:14 +10:00
Paul Riseborough
1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Paul Riseborough
90d65071c1 EKF: Add output predictor processing option 
Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.

This may improve height controller performance under some circumstances
 2016-05-23 07:47:10 +10:00
Paul Riseborough
c8c2d6d963 Merge pull request #145 from CarlOlsson/small_fix 
Deleted second update of transformation matrix
 2016-05-23 07:40:58 +10:00
Carl Olsson
0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
CarlOlsson
eb70aca2e8 deleted second update of transformation matrix 2016-05-22 16:03:30 +02:00
waltjohnson
7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough
e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough
b9a3712ccb EKF: record yaw alignment event during initialisation to allow heading fusion to start early 
This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
 2016-05-18 19:25:19 +10:00
Paul Riseborough
22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +10:00
Nic
1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
Paul Riseborough
c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough
349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
devbharat
cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat
d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00
devbharat
d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
devbharat
b681c9a5d0 Added external vision noise parameters etc and position offset 2016-05-14 21:17:29 +10:00
devbharat
ff8f03b5dd Added compensation for VI sensor offset. Check sign. 2016-05-14 21:17:29 +10:00
Paul Riseborough
e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough
25f1d1d766 EKF: Add fusion of external vision 3D pos data 2016-05-14 21:17:29 +10:00
Paul Riseborough
81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
c7e225124c EKF: Improve output observer position and velocity tracking 
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
 2016-05-14 12:45:29 +09:30
Paul Riseborough
627d08ecc9 Revert "EKF: Fix bug in output observer" 
This reverts commit 03f3df741589627bf15225327289b01916cc1a90.
 2016-05-14 12:26:46 +09:30
Paul Riseborough
03f3df7415 EKF: Fix bug in output observer 
Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
 2016-05-14 08:33:05 +09:30
Paul Riseborough
481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough
0c6a367e1b EKF: fix Travis build error 2016-05-07 17:45:49 +10:00