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1,671 Commits 852 Branches 161 Tags
1a7c68ea72db82de1d8729f900a5543a253a3ac4
Commit Graph
1271 Commits
Author SHA1 Message Date
Paul Riseborough 759d217d5a EKF: Improve protection for GSF weight collapse 2020-10-06 20:50:52 +11:00
Paul Riseborough 7c81350c7a EKF: Don't yaw reset if not yaw induced nav failure 2020-10-06 20:50:52 +11:00
Paul Riseborough bf0d70fc90 EKF: Protect against collapse of GSF weights 2020-10-06 20:50:52 +11:00
Daniel Agar 4c2355a638 EKF: use GPS to lookup declination from WMM before full GPS checks pass 2020-09-28 08:43:32 +02:00
bresch 5879eaaf78 ekf: fix variable length array error 
Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it.
Using sizeof...(Idxs) fixes the error.
 2020-09-25 11:33:29 +02:00
Daniel Agar fab242a81f python generation add shebang, mark executable, ignore cache 
- commit all current generated files
 2020-09-07 09:20:41 +02:00
bresch 264c8c4e86 mag_fusion: mag heading and 3d modes are mutually exclusive 
There is no need to check if 3d fusion is active when in mag heading
fusion mode since this is impossible
 2020-08-27 15:48:40 +10:00
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
Kamil Ritz 0fafd4d68b precompute cos and sin of yaw once before mutliple use 2020-08-24 19:24:27 +10:00
Kamil Ritz 114516b784 Use new added matrix functions 2020-08-24 19:24:27 +10:00
Kamil Ritz 1f637af7de Add const modifier 2020-08-24 19:24:27 +10:00
kamilritz aa2c77f92d Small cleanup in velposfusion 2020-08-24 18:04:57 +10:00
kamilritz 644e903552 Apply measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz 404edde7f3 Add measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz f6252ff533 small cleanup in limitDeclination 2020-08-24 18:04:57 +10:00
Paul Riseborough fd849e0578 EKF: Fix specific force observation noise variance 
Also add protection for out of range value.
 2020-08-18 17:05:59 +10:00
Paul Riseborough 76f393dcb0 EKF: Use const reference instead of local copy 2020-08-18 17:05:59 +10:00
Paul Riseborough c43307b8cf EKF: convert drag fusion from Matlab to SymPy generated auto-code 2020-08-18 17:05:59 +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 da9bfe4316 Update interface of applyCorrectionsToOuputStates 2020-08-16 10:00:47 +10:00
Paul Riseborough 64ab2b087a EKF: Only record successful sideslip fusion when states updated 2020-08-16 08:45:59 +10:00
Paul Riseborough 0fa7ef3517 EKF: Use ecl::powf for integer exponents 2020-08-16 08:45:59 +10:00
Paul Riseborough 168dbdf630 EKF: Convert sideslip fusion to use SymPy generated auto-code 2020-08-16 08:45:59 +10:00
Paul Riseborough 06aa78a291 EKF: Only record airspeed fusion event when states are updated 2020-08-16 08:45:26 +10:00
Paul Riseborough 486a461a5e EKF: airspeed fusion derivation test comparison cleanup 2020-08-16 08:45:26 +10:00
Paul Riseborough ede6204f85 EKF: airspeed fusion cleanup 2020-08-16 08:45:26 +10:00
Paul Riseborough a5a43dbc6c EKF: Convert airspeed fusion to use SymPy generated auto-code 2020-08-16 08:45:26 +10:00
Paul Riseborough 5907e81ef7 EKF: optflow fusion cleanup 2020-08-16 08:44:17 +10:00
Paul Riseboroughandkritz 7fa9a1963b EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseboroughandkritz 0e74f3ea9d EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseboroughandkritz 6e992a18f6 EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseborough 1ad042da23 EKF: Use ecl::powf in comparison test 2020-08-16 08:44:17 +10:00
Paul Riseborough 274523bd98 EKF: Use ecl::powf for integer exponents 2020-08-16 08:44:17 +10:00
Paul Riseborough f20a5d814d EKF: Remove redundant tilt check 
Also fix comment indent
 2020-08-16 08:44:17 +10:00
Paul Riseborough 1592db8f34 EKF: Convert optical flow fusion to use SymPy generated equations 2020-08-16 08:44:17 +10:00
Paul Riseborough 1f386c1bb8 EKF: Add yaw estimate SymPy generated code files 2020-08-16 08:43:29 +10:00
Paul Riseborough 510d93858f EKF: move yaw estimator derivation into main filter derivation 
Enables use of common components
 2020-08-16 08:43:29 +10:00
Paul Riseborough f89c52e840 EKF: use ecl::powf for integer exponents 2020-08-15 08:40:59 +10:00
Paul Riseboroughandkamilritz 0aa2f17562 EKF: Convert GPS yaw observation method to use SymPy generated code (#880) 
* EKF: add test comparison program for GPS yaw fusion equations

* EKF: convert GPS yaw fusion method to use SymPy generated equations

* Replace if/else with simple if

* EKF: fix formatting of GPS yaw fusion auto-code comparison test

* EKF: Use  SparseVector type for GPS yaw fusion Jacobians

* EKF: Fix bug in GPS yaw derivation comparison check

* Add gps_yaw auto generated code file

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-13 13:23:57 +10:00
Paul Riseboroughandkamilritz 21cc46edd7 EKF: Convert magnetic field observation methods to use SymPy generated code (#879) 
* EKF: Add comparison test for mag field fusion generated code

* EKF: convert mag field fusion to use SymPy generated code

* EKF: Add test comparison program for yaw fusion equations

* Stop setting 0 to 0

* Reduce if/else statement to only if

* EKF: more accurate implementation for sequential fusion of magnetometer data

* test: update change indicator

* Use matrix::SparseVector<float, 24, ...> for observation jacobian

* Adapt the auto code generation to allow for different bracket styles

* Add auto generated code for mag fusion

* Add generic computation of KHP

* Apply generic computation of KHP to mag fusion

* tests: update change indicator

* tests: update change indicator

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-11 18:57:22 +10:00
Paul Riseboroughandkamilritz 6feb28c27d EKF: Convert EKF-GSF yaw estimator from matlab to sympy derived equations (#871) 
* EKF: Add sympy derivation of equations for EKF-GSF yaw estimator

* EKF: Convert EKF-GSF yaw estimator to use sympy generated equations

* EKF: Add status prints for GSF-EKF yaw estimator cvode gen

* EKF: Move generated code for GSF-EKF yaw estinmator to generated directory

* Make it run with python3

* Cleanup yaw estimator code generation

* Improve and simplify gsf measurement update code generation

* Use improved auto generated measurement update code

& remove obsolete updateInnovCovMatInv function

* Delete generated ekf_derivation for the moment

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-10 09:27:31 +02:00
kamilritz 497008811a Update matrix version 2020-08-09 11:08:59 -04:00
kamilritz 310b989c9a refactor start of gps into separate function 2020-08-07 10:02:47 +02:00
kamilritz 7eb2b08eed Yaw measurement jacobian to Vector4f 2020-08-04 09:57:00 +02:00