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
4044abdd20
fixed output state variable name state_variance to state_variances
2020-01-10 19:57:39 +05:30
cd9e81539c
Expand IMU Down Sampling tests
2020-01-09 19:43:29 +11:00
de58ab9167
inline newly added function save 60Bytes
2020-01-09 19:43:29 +11:00
be11516dd6
Refactor IMU downsampling into its own class
2020-01-09 19:43:29 +11:00
c7e074276f
Save flash space
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This commit saves roughly 400-500 Bytes in flash space
2020-01-09 19:43:29 +11:00
94484f01ce
save flash space
2020-01-08 14:36:03 +01:00
84dcb32bd8
Extend auxVel interface to support 3d velocity
2020-01-08 14:36:03 +01:00
07e8e88e88
Support full vision variance
2020-01-08 14:36:03 +01:00
4ab3dd50c9
pass Vector by const reference
2020-01-08 09:00:31 +01:00
2657e4fc0c
Improve naming and white space
2020-01-08 09:00:31 +01:00
1fcfd394dd
Various small non-functional improvements
2020-01-08 09:00:31 +01:00
deeac03d6a
Clean up height reset logic booleans
2020-01-08 09:00:31 +01:00
cec6d76577
Raise awareness for drag variance(!=stdDev) bug
2020-01-08 09:00:31 +01:00
0b18143745
Improve readibility
2020-01-08 09:00:31 +01:00
3daf25763e
Remove unnecessary comments
2020-01-08 09:00:31 +01:00
36da8d82c8
Clean up white space
2020-01-08 09:00:31 +01:00
48787c0160
Improve Matrix library usage
2020-01-08 09:00:31 +01:00
a21a7cd5b9
Remove output argument from calcEarthRateNed
2020-01-08 09:00:31 +01:00
9e6d27fafb
Add missing const qualifier
2020-01-08 09:00:31 +01:00
066392ef02
Improve naming
2020-01-07 08:14:59 +11:00
f99dbd8ca3
Improve naming and brackets
2020-01-07 08:14:59 +11:00
1c68709949
Rename mag ambiguous mag abbreviations with magnitude
2020-01-07 08:14:59 +11:00
a24aaad861
CleanUp GPS drift checks
2020-01-07 08:14:59 +11:00
c6e3f389d2
Replace calculation of earth NED rotation vector
2020-01-07 08:14:59 +11:00
9f053cb8c1
Simplify covariance getters
2020-01-02 19:26:57 +11:00
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
2020-01-02 19:26:57 +11:00
166d260058
EKF: Provide auto-code output that uses (row, col) syntax for covariance matrix
2020-01-02 19:26:57 +11:00
92ba618f57
Improve on flash memory usage
2020-01-02 19:26:57 +11:00
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
2020-01-02 19:26:57 +11:00
490c749f80
Revert if statement swap in resetMagHeading
2019-12-18 10:06:31 +01:00
a6bbafc7b0
Remove unnecessary initialiseCovariance
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It is already called in reset()
2019-12-18 09:46:32 +01:00
ef9f1053d0
Random improvements
2019-12-18 09:46:32 +01:00
01495ede97
Clean initialiseFilter function ( #687 )
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* Clean initialiseFilter
* Add const qualifiers
2019-12-17 13:36:28 +01:00
532c9abd4a
Expand test framework and test cases ( #685 )
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* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
2019-12-17 11:35:45 +01:00
6c25ac5731
Tilt Initialisation: Average Filter -> LowPass Filter ( #686 )
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* Tilt Initialisation: Average Filter -> LowPass Filter
* Add _is_first_imu_sample variable
* Remove not needed comments
2019-12-17 11:01:25 +01:00
98a1aae494
EKF: use Matrix cross product
2019-12-17 09:35:08 +01:00
85e0e6e89c
Remove resetStates(AndCovariances) function
2019-12-13 16:50:56 +01:00
64652f523b
Improve quality of comments
2019-12-12 08:48:10 +01:00
1bf09fd370
Remove EKF prefix from logged messages
2019-12-12 08:48:10 +01:00
88c4929c96
Use helper function to switch to gps height
2019-12-11 17:23:45 +02:00
042d9b6615
Remove dangerous _primary_hgt_source variable
2019-12-11 17:23:45 +02:00
66f707ede0
Remove non enterable if statement
2019-12-11 17:23:45 +02:00
cd030e7cd2
Remove switch to ev hgt during filter initialization
2019-12-11 17:23:45 +02:00
4bc6ae69ae
Remove if statement that can not be entered
2019-12-11 17:23:45 +02:00
6941777e17
Remove obsolete vision sample counter during initialization
2019-12-11 17:23:45 +02:00
181303488c
Log height innovation sensor specific
2019-12-05 20:09:34 +11:00
f32fce28a3
Fix gps vertical observation variance
2019-12-05 20:09:34 +11:00
bresch