Paul Riseborough
57d4064d7b
EKF: Increase default heading observation noise
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Improves robustness when operating in a bad magnetic field environment
2016-03-01 15:28:53 +11:00
Paul Riseborough
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
mcsauder
f9f00fa52b
Remove unnecessary include.
2016-02-23 14:00:39 -07:00
mcsauder
79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
mcsauder
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
mcsauder
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
Paul Riseborough
a711632017
EKF: Add method to fuse horizontal magnetometer data
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This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
2016-02-20 19:45:32 +11:00
mcsauder
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
mcsauder
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
Paul Riseborough
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
2016-02-17 17:22:02 +11:00
Paul Riseborough
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
Paul Riseborough
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
2016-02-14 22:01:53 +01:00
Paul Riseborough
0308f2f796
EKF: Add parameters to control declination source and fusion type
2016-02-14 22:01:53 +01:00
Roman
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
Paul Riseborough
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
Paul Riseborough
6aeccf01ff
EKF: Add missing fusion health status messages
2016-02-08 14:18:43 +11:00
Paul Riseborough
3f81eb7d1b
EKF: fix formatting
2016-02-04 17:15:03 +11:00
Paul Riseborough
9bfc11b660
EKF: Use specific position observation noise when flying without GPS
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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
2016-02-03 18:40:32 +11:00
Paul Riseborough
2b1e8fe910
EKF: Update tuning parameters
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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
2016-02-03 17:05:45 +11:00
bugobliterator
d79e12dfa1
EKF: fix code style
2016-01-31 00:12:16 -08:00
bugobliterator
287f5eb0c2
EKF: move all estimator specific types to common header
2016-01-30 12:44:19 -08:00
Paul Riseborough