10cbd79db7
Rotate external vision info in reset function if necessary
2019-09-24 07:48:46 +10:00
4511b9ff5e
Add missing checks for flags.ev_vel
2019-09-24 07:48:46 +10:00
e7d927c899
Stop using bad GPS when we have vision velocity
2019-09-24 07:48:46 +10:00
bd8f05567a
set vel_pos_test_ratio to zero if no fusion happens
2019-09-24 07:48:46 +10:00
4b30de587f
Make vel_pos innov gate variable name clearer
2019-09-24 07:48:46 +10:00
4237d7ccd7
Improve external vision position fusion
2019-09-24 07:48:46 +10:00
3e8139ff9f
Enable vision velocity fusion
2019-09-24 07:48:46 +10:00
149233a9ab
Add velocity observations to external vision interface
2019-09-24 07:48:46 +10:00
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
4c4c1f2984
Use copyTo for writing to memory blocks
2019-09-18 08:42:58 +02:00
8cc8db211c
Fix copy_quaternion reference in code generation
2019-09-18 08:42:58 +02:00
8d60f8ba8f
Remove direct unsafe access to matrix internal data
2019-09-18 08:42:58 +02:00
c446ee444a
EKF: fake rng if faulty on ground
2019-09-18 10:15:37 +10:00
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
93eb1266f6
EKF: reset position when stopping GPS use and EV is active
2019-09-18 08:33:40 +10:00
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
933189eac0
EKF: fix rng_faulty flag when sensor is stuck
2019-09-12 17:45:37 +10:00
640e41cba7
EKF: change rangeSample quality to int8_t
2019-09-12 17:45:37 +10:00
a12186c285
terrain_estimator: introduce quality metric in rng
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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
3e05fd552e
EKF: Compensate for bad range finder data when on ground
2019-09-12 17:45:37 +10:00
3b32ee4166
Flow aiding - Reset state when flow is enabled only if it is the only
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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
be368f3656
Update comment
2019-08-29 08:34:10 +10:00
c5abfe626f
remove canonicalize and adapt comments
2019-08-29 08:34:10 +10:00
a2ff415fe4
Fix get frame aligning quaternion function
2019-08-29 08:34:10 +10:00
53eac6e94e
Canonicalize alignment quaternion
2019-08-29 08:34:10 +10:00
933c32c921
Enable local frame alignment also without using it
2019-08-29 08:34:10 +10:00
ea352a6631
Dont use mag suffix for magnitude
2019-08-29 08:34:10 +10:00
05196db79e
Fix alignment of local frame
2019-08-29 08:34:10 +10:00
e1751188fd
EKF - Initialize _deadrekon_time_exceeded to true.
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If no sample have been received, deadrekoning and local position should be invalid.
2019-06-28 10:52:52 -04:00
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
2019-06-17 19:24:55 +10:00
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
2019-06-17 19:24:55 +10:00
ad7f7af03b
ekf: correct quaternion multiplication order
2019-06-17 19:24:55 +10:00
d6351bd7a5
EKF: update comment
2019-06-17 19:24:55 +10:00
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
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
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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
0f49eb34a0
fixed method which calculates validity of terrain estimate
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-05-28 19:43:13 +10:00
340d85afc1
EKF: fix variable names in estimator_interface.h
...
This fixes issue #566
2019-05-27 17:39:42 -04:00
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
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
c085d7295d
addressed review comments
2019-05-15 17:16:36 +10:00
8673ab0346
terrain estimator: constrain terrain state properly
...
Signed-off-by: Roman <bapstroman@gmail.com >
2019-05-15 17:16:36 +10:00
fbb51147b7
implemented use of optical flow for terrain estimation
...
Signed-off-by: Roman <bapstroman@gmail.com >
2019-05-15 17:16:36 +10:00
3f691891c4
EKF: control: stop vision yaw fusion on timeout
2019-04-22 12:56:24 +10:00
c4492b17c1
do not reset yaw if vehicle on ground
2019-04-09 20:50:37 +10:00
f97f0b6ea3
EKF: Remove unnecessary code
...
_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
2019-04-08 06:57:17 +10:00
43b5e26fe4
EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
2019-04-08 06:57:17 +10:00
f95cd4b358
ground effect: removed dependency on local position
...
Signed-off-by: Roman <bapstroman@gmail.com >
2019-03-19 13:14:57 +11:00
7845ff4360
EKF: increase wind process noise scaler to 0.5
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-19 13:10:12 +11:00
32ca6f7030
ekf: scale wind process noise with low pass filtered height rate
2019-03-19 13:10:12 +11:00
938c8ad9ad
EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff
2019-03-19 13:04:54 +11:00
kamilritz