kamilritz
1bf09fd370
Remove EKF prefix from logged messages
2019-12-12 08:48:10 +01:00
Paul Riseborough
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
2019-10-23 14:44:08 +03:00
kritz
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
2019-09-25 11:24:42 +02:00
Carl Olsson
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2019-03-18 10:20:33 -04:00
Paul Riseborough
ae069b12d6
EKF: Fix bug preventing wind relative dead reckoning
2018-04-21 13:04:04 -04:00
Daniel Agar
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
Paul Riseborough
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
Paul Riseborough
e4ffe199ed
EKF: fix bug in sideslip fusion activation
2017-10-20 14:44:37 +11:00
Daniel Agar
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
Daniel Agar
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
Paul Riseborough
750a8874c1
EKF: Improve recovery and reporting for badly conditioned sideslip fusion
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Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
2016-11-05 12:19:01 +01:00
Paul Riseborough
f76a2a5ff7
EKF: fix bug in sideslip fusion and reduce RAM usage
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The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
2016-11-05 12:19:01 +01:00
Paul Riseborough
2fedbc8a18
EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency
2016-11-05 12:19:01 +01:00
Paul Riseborough
fb6f4be453
EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning
2016-11-05 12:19:01 +01:00
CarlOlsson
0e3ae4b323
fixed issue with the covariance update in synthetic sideslip fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
f5d0228cd5
include ecl.h
2016-11-05 12:19:01 +01:00
CarlOlsson
beb90f008d
adopted code for upstream changes
2016-11-05 12:19:01 +01:00
CarlOlsson
b7a4a1358f
added sidelip_fusion.cpp
2016-11-05 12:19:01 +01:00
