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305 Commits
Author SHA1 Message Date
zhaoxiaowei fbf67bdef9 reset gps height use vacc 2020-12-10 10:07:59 +01:00
Mathieu Bresciani 8f3df7a97b flow: restructure optical flow control logic (#928) 
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
 2020-12-09 11:33:00 +01:00
Daniel Agar da7d41e78a EKF: add mag bias reset helper and update IMU bias reset to match (#924) 2020-12-08 12:16:59 -05:00
Daniel Agar 03cfcb903e EKF: RingBuffer minor improvements 
- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
 2020-12-03 20:48:51 -05:00
Daniel Agar a21092804a EKF: remove virtual getters from estimator_interface 2020-11-02 09:35:47 -05:00
Daniel Agar 48a8992caf EKF: move small simple getters to header 
- return by const reference where possible
 2020-10-30 09:48:45 -04:00
Daniel Agar 5ea8824439 EKF: inline simple getters 2020-10-27 08:53:58 -04:00
Daniel Agar 6e99ebd928 EKF: add fault status bit for bad vertical accel data 2020-10-26 17:37:15 +01:00
Mathieu Bresciani dd3ffc4192 Optical flow: compute velociy from corrected flow data for logging (#920) 
This is really useful when debugging optical flow data
 2020-10-26 13:27:52 +01:00
Daniel Agar 4c2355a638 EKF: use GPS to lookup declination from WMM before full GPS checks pass 2020-09-28 08:43:32 +02:00
kamilritz 9797e4d28f updateYawInRotMat with hidden rotation sequence handling 2020-08-27 09:51:56 +10:00
kamilritz 4fb4e0ca01 Clean euler321 and euler312 code and comment 2020-08-27 09:51:56 +10:00
Kamil Ritz 2be738e806 Add helper function to alter heading in rotation matrices 2020-08-27 09:51:56 +10:00
Kamil Ritz fdc86c247a add functions to compute yaw (321 and 312 sequence) 
from quaternion and rotation matrix
 2020-08-27 09:51:56 +10:00
Kamil Ritz 15afa8ae17 shouldUse321RotationSequence(const Dcmf& R) 2020-08-27 09:51:56 +10:00
Kamil Ritz 4872f2a545 Remove not used code 2020-08-24 19:24:27 +10:00
Paul Riseborough 1e6c6f2d3c EKF: update all output states when aligning output time horizon filter 2020-08-16 10:00:47 +10:00
kamilritz 3bd9415498 Make delayed output stayed not a member variable 2020-08-16 10:00:47 +10:00
kamilritz 310b989c9a refactor start of gps into separate function 2020-08-07 10:02:47 +02:00
kamilritz 15d360f446 saved_mag_ef_cov to Squarematrix2f 2020-08-04 09:57:00 +02:00
kamilritz 7609bc69b2 drag innov member variables to Vector2f 2020-08-04 09:57:00 +02:00
kritz 88c52aba5e Refactor ev fusion start into helper functions (#872) 2020-07-27 11:42:52 +02:00
kamilritz b5e1397c0f Add const modifier 
const modifier


Add missing const modifier
 2020-07-16 18:25:06 +02:00
kamilritz 796afd5f98 Rename yaw_use_inhibit -> is_yaw_fusion_inhibited 
Temp
 2020-07-16 18:25:06 +02:00
kamilritz 3d82d822ae Add const modifier 2020-07-16 18:25:06 +02:00
kamilritz 2af2696b63 Revert if-else condition to get rid of unnecessary indentation 2020-07-02 15:55:24 +02:00
kamilritz fce4958d4f Random cleanup 2020-07-02 15:55:24 +02:00
kritz 9eea44f4ab Return type of resets (#859) 
* Reset position/velocity return type is void

* Delete not needed comments
 2020-07-02 14:53:59 +02:00
kamilritz 97225fcb74 Use matrix lib inside getState 2020-07-02 09:02:24 +02:00
kamilritz 16a00eae0b Make Kfusion a Vector24f 2020-07-02 09:02:24 +02:00
kamilritz 5356077a32 Make flow_innov/-var a matrix Vector2f 2020-06-26 08:26:26 +02:00
kamilritz 630be60930 Increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz 22274b1d30 Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz b8f937666a Make mag_innov/-var a Matrix::Vector3f 2020-06-26 08:26:26 +02:00
bresch 3c6790f5d5 GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting 
Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
 2020-06-23 08:43:48 +02:00
kamilritz ff8b5ec69d Extract general functions into utils 2020-06-23 08:18:34 +02:00
RomanBapst b7d54b5477 gps: fixed filter initialization bug around gps 
- do not gps reference altitude to zero in case gps checks pass before the
filter initialized
- reset the filtered gps position and position derivative filters in case
we are in air or there is movement on the ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-08 16:19:38 +02:00
Paul RiseboroughRoman BapstMathieu Bresciani
 		59183f70ba EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831) 
* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors

* Update EKF/ekf_helper.cpp

* EKF: Fix comment typo

Co-authored-by: Roman Bapst <bapstroman@gmail.com>

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2020-06-02 17:42:54 +10:00
kritzandJulian Oes bf78044bcd EKF: fix initialization of local position validity 2 (#820) 
The `_deadreckon_time_exceeded` flag is used in
`local_position_is_valid()`. This means that
`_params.valid_timeout_max` after startup, in my observed case 5
seconds, the local position switche from valid to invalid and then after
a while back to valid again.

With this fix, the local position is flagged invalid from boot and gets validated after the first aiding event.

Co-authored-by: Julian Oes <julian@oes.ch>
 2020-05-20 08:24:23 +02:00
kritz 716caa5168 Refactor position resets (#822) 2020-05-19 21:53:46 +02:00
kritz 98801ad17b Support vision velocity expressed in body frame too (#708) 
* Support vision velocity expressed in body frame

* Use switch statement for vision velocity frame

* Robustify vision velocity frame test

* Increase lower bound on vision velocity noise to 0.05 m/s
 2020-05-12 16:03:35 +02:00
Kamil Ritz b40adf3dec Refactor velocity resets 2020-05-12 08:05:32 +02:00
bresch 97b437233e ekf: remove unused function 2020-05-08 16:55:23 +02:00
bresch 75c49b2082 ekf_helper: fuse double if 2020-05-08 16:55:23 +02:00
Kamil Ritz 050298f6c1 Improve matrix library usage 2020-04-25 10:11:01 +02:00
Kamil Ritz 5749273d19 refactor resetPosition 2020-04-25 10:11:01 +02:00
bresch 30d69aa45b Ekf: extract baro height offset computation 2020-04-19 12:38:13 +02:00
bresch 6b64cf0770 Ekf: centralize GPS height fusion startup 2020-04-19 12:38:13 +02:00
bresch 61763544b6 Ekf: centralize baro fusion startup 2020-04-19 12:38:13 +02:00
kritz fa5a00d871 Refactor velocity reset (#788) 
* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
 2020-04-08 16:39:15 +02:00