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Author SHA1 Message Date
kamilritz
10cbd79db7 Rotate external vision info in reset function if necessary 2019-09-24 07:48:46 +10:00
kamilritz
4511b9ff5e Add missing checks for flags.ev_vel 2019-09-24 07:48:46 +10:00
kamilritz
e7d927c899 Stop using bad GPS when we have vision velocity 2019-09-24 07:48:46 +10:00
kamilritz
bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz
4b30de587f Make vel_pos innov gate variable name clearer 2019-09-24 07:48:46 +10:00
kamilritz
4237d7ccd7 Improve external vision position fusion 2019-09-24 07:48:46 +10:00
kamilritz
3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
kamilritz
149233a9ab Add velocity observations to external vision interface 2019-09-24 07:48:46 +10:00
Matthias Grob
62a1e07512 ecl_EKF: Do not include SquareMatrix from Matrix library 
because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
 2019-09-18 08:42:58 +02:00
Daniel Agar
eddee193d1 update matrix git tag to latest 2019-09-18 08:42:58 +02:00
Julian Kent
4c4c1f2984 Use copyTo for writing to memory blocks 2019-09-18 08:42:58 +02:00
Julian Kent
8cc8db211c Fix copy_quaternion reference in code generation 2019-09-18 08:42:58 +02:00
Julian Kent
8d60f8ba8f Remove direct unsafe access to matrix internal data 2019-09-18 08:42:58 +02:00
Nico van Duijn
c446ee444a EKF: fake rng if faulty on ground 2019-09-18 10:15:37 +10:00
Andreas Antener
4f19d457c4 ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active 2019-09-18 09:27:24 +10:00
Jan Brehmer
93eb1266f6 EKF: reset position when stopping GPS use and EV is active 2019-09-18 08:33:40 +10:00
Nico van Duijn
267195a11b EKF: remove check for faulty flag in fake rng 
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
 2019-09-12 17:45:37 +10:00
Nico van Duijn
933189eac0 EKF: fix rng_faulty flag when sensor is stuck 2019-09-12 17:45:37 +10:00
Nico van Duijn
640e41cba7 EKF: change rangeSample quality to int8_t 2019-09-12 17:45:37 +10:00
Nico van Duijn
a12186c285 terrain_estimator: introduce quality metric in rng 
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
 sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
 2019-09-12 17:45:37 +10:00
Paul Riseborough
3e05fd552e EKF: Compensate for bad range finder data when on ground 2019-09-12 17:45:37 +10:00
bresch
3b32ee4166 Flow aiding - Reset state when flow is enabled only if it is the only 
position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
 2019-09-03 09:58:33 +02:00
kamilritz
be368f3656 Update comment 2019-08-29 08:34:10 +10:00
kamilritz
c5abfe626f remove canonicalize and adapt comments 2019-08-29 08:34:10 +10:00
kamilritz
67512d88ea Update matrix library for CI 2019-08-29 08:34:10 +10:00
kamilritz
a2ff415fe4 Fix get frame aligning quaternion function 2019-08-29 08:34:10 +10:00
kamilritz
53eac6e94e Canonicalize alignment quaternion 2019-08-29 08:34:10 +10:00
kamilritz
933c32c921 Enable local frame alignment also without using it 2019-08-29 08:34:10 +10:00
kamilritz
ea352a6631 Dont use mag suffix for magnitude 2019-08-29 08:34:10 +10:00
kamilritz
05196db79e Fix alignment of local frame 2019-08-29 08:34:10 +10:00
RomanBapst
62fa464e4d WindEstimator: added support for pre-set airspeed scale factor 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer
a7d9c73d4d Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer
09f29dbb07 added option to fix airspeed scaling to 1 2019-08-08 09:15:25 +02:00
Jaeyoung-Lim
d38164fc8e Fix flag for initialization 2019-07-22 10:24:51 +02:00
bresch
e1751188fd EKF - Initialize _deadrekon_time_exceeded to true. 
If no sample have been received, deadrekoning and local position should be invalid.
 2019-06-28 10:52:52 -04:00
Paul Riseborough
a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00
Paul Riseborough
0e946f25fd EKF: Remove use of quaternion self product operator and fix delta rotation sign error 2019-06-17 19:24:55 +10:00
CarlOlsson
ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson
d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
Paul Riseborough
7612fa40ed EKF: Don't start using GPS for height until all validity checks have passed 
Consolidate intermittent data checks, improve variable and clarify usage.
 2019-06-13 19:36:37 +10:00
Roman
cef2ba5ab9 implemented Kahan summation algorithm for adding process noise to delta 
angle- and delta velocity bias variance

- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-06-11 19:28:06 +10:00
RomanBapst
0f49eb34a0 fixed method which calculates validity of terrain estimate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-05-28 19:43:13 +10:00
Daniel Agar
cd34ab802d mathlib delete floorf in favor of math.h 2019-05-28 19:42:59 +10:00
Robert de Vries
340d85afc1 EKF: fix variable names in estimator_interface.h 
This fixes issue #566
 2019-05-27 17:39:42 -04:00
Matthias Grob
90b4c7c065 mathlib: fix floorf indentation 2019-05-24 09:56:12 +02:00
Sebastian Verling
710c52980e fixed calculation of magentic table values by using floor instead of int casting 2019-05-24 09:09:26 +02:00
Beat Küng
54ac147ae8 Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time 
This does not change the default of 10 seconds.
 2019-05-15 09:00:24 +01:00
Roman
770cd3c5cc added python script for terrain flow derivation (optical flow for terrain 
height estimation)

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman
c085d7295d addressed review comments 2019-05-15 17:16:36 +10:00
Roman
8673ab0346 terrain estimator: constrain terrain state properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00