- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
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>
- the velocity of the optical flow sensor relative to the IMU expressed in
body frame is the cross product of the angular velocity with the vector
from IMU to the sensor. If we use the angular velocity stored in the flow
sample struct we need to use a negative sign as that angular velocity
follows the opposite sign convention.
Signed-off-by: Roman <bapstroman@gmail.com>
- _flt_mag_align_complete was not set when choosing pure 3D mag fusion.
one effect of this was that the declination used in the filter was not
the one calculated from the magnetic field states.
Signed-off-by: Roman <bapstroman@gmail.com>
* optical flow: fixed calculation of velocity of the flow sensor relative to
the IMU
- gyroXYZ holds a delta angle and first needs to converted to a gyro rate
Signed-off-by: Roman <bapstroman@gmail.com>
* optical flow: calculate height above the ground with respect to the flow
camera
- the flow camera can be offset from the IMU which needs to be considered
Signed-off-by: Roman <bapstroman@gmail.com>
* estimator interface: fixed comment regarding optical flow sample timestamp
- the timestamp on an optical flow sample corresponds to the trailing
edge of the flow integration period
Signed-off-by: Roman <bapstroman@gmail.com>
- zero thrust integrator on initialisation, we already have a cruise throttle
variable
- if initialising from in_air condition set last throttle setpoint to
cruise throttle (_in_air ? throttle_cruise : 0.0f);
- when switching to range finder use the current terrain estimate as
height sensor offset, otherwise spikes in the range measurements could lead
to a wrong offset
Signed-off-by: Roman <bapstroman@gmail.com>
- do not subtract the height sensor offset variable when computing the
baro offset from the local origin. The baro height offset is calculated
when baro is not fused and so the height sensor offset used in that case
is associated to another sensor and has nothing to do with the baro.
Signed-off-by: Roman <bapstroman@gmail.com>
the primary height source
- moved height control into single function in order to decide which sensor
should be used for estimating height
- under certain conditions allow to use the range finder to estimate height
even if it's not the primary height source
- fixed a bug where the delta time for the baro offset calculation was always
zero
- use methods to set height control flags to reduce code duplication and
to prevent bugs
Signed-off-by: Roman <bapstroman@gmail.com>
- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed
Signed-off-by: Roman <bapstroman@gmail.com>
- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com>
- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution
Signed-off-by: Roman <bapstroman@gmail.com>
RomanBapst