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Author SHA1 Message Date
CarlOlsson ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
CarlOlsson 7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00
CarlOlsson 32ca6f7030 ekf: scale wind process noise with low pass filtered height rate 2019-03-19 13:10:12 +11:00
CarlOlsson 938c8ad9ad EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff 2019-03-19 13:04:54 +11:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
CarlOlsson 8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson 000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 2019-03-12 19:07:55 +11:00
CarlOlsson 96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 56b6b7a778 EKF: cleanup use of _mag_filt_state 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Carl Olsson 54ab8191e3 EKF: add method to get the terrain variance 2019-02-06 08:49:16 -05:00
CarlOlsson 6e7c119b31 EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
CarlOlsson 0896f7b9bd EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
CarlOlsson 8a813c57ec EKF: fix comment typo 2019-01-14 09:57:44 +11:00
CarlOlsson 472f2286b7 EKF: initialize covariances before we reset the heading in order to preserve the yaw uncertainty 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-14 09:57:44 +11:00
CarlOlsson 490888285d EKF: Remove flag prefix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
CarlOlsson d223680197 EKF: add flt_mag_align_complete to control_status flags 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
CarlOlsson 1a969aed07 EKF: use low pass filtered mag measurements for heading initialization 2018-12-05 10:08:11 +01:00
CarlOlsson 8a2e512c2d terrain_estimator: add vehicle_variance_scaler 2018-11-15 08:38:48 +11:00
Carl Olsson f6d23cc621 added rng_stuck to filter control status flags (#392) 2018-03-21 11:46:27 +11:00
CarlOlsson 5c8b22b43f ekf: return beta test ratio in get_innovation_test_status 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-12-18 15:48:36 +01:00
CarlOlsson dea0c8bb6a tecs: fixed some typos 2017-12-08 00:31:12 -05:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
CarlOlsson 8c83167857 EKF: fixed comment 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 11:41:55 +02:00
CarlOlsson 8200e4b218 EKF: added get_wind_velocity_var function 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-02 14:47:56 +02:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
CarlOlsson b255d4a53a fixed typos 2017-06-12 18:13:22 +02:00
CarlOlsson 871ebb251b EKF: Changed get_control_mode to coyp 32 bits 2017-06-01 11:02:56 +02:00
CarlOlsson a1308482fd EKF: Reset the mag states to the field state variance when switching from the inhibit mag mode to standard mode 2017-05-31 10:18:40 +02:00
CarlOlsson be16406b35 EKF: Add feature to use the mag to only update the mag states 2017-05-26 11:29:21 +02:00
CarlOlsson a9182259a5 fixed bug in beta fusion 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 e1d9d503e3 updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated 2016-11-05 12:19:01 +01:00
CarlOlsson dec686afd7 updated parameters 2016-11-05 12:19:01 +01:00
CarlOlsson 5205a8198b added function to control when to fuse beta 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
CarlOlsson 12aeaafbd3 adopted estimator_interface.h 2016-11-05 12:19:01 +01:00
CarlOlsson c8e3c24150 adopted ekf_helper.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 8f6c75bb0b adopted ekf.h 2016-11-05 12:19:01 +01:00
CarlOlsson 15768f6f93 adopted ekf.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 738414d36e adopted common.h 2016-11-05 12:19:01 +01:00
CarlOlsson 6c9cc5691c adopted EKF/CMakeLists 2016-11-05 12:19:01 +01:00
CarlOlsson daf44dcd67 adopted CMakeLists 2016-11-05 12:19:01 +01:00
CarlOlsson 8d60da1442 removed old wind initialization 2016-08-11 15:26:21 +02:00
CarlOlsson 51c8715638 fixed issue with airspeed never fused 2016-08-11 15:26:21 +02:00
CarlOlsson eded0a8f7e activate tas fusion, off by default 2016-06-07 13:49:17 +02:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Carl Olsson dbe2513d48 updated logic of calculation of body field variance (#146) 2016-05-22 17:39:25 +02:00
CarlOlsson eb70aca2e8 deleted second update of transformation matrix 2016-05-22 16:03:30 +02:00
Carl Olsson 5217b73df1 added bad_airspeed reporting (#123) 2016-05-12 10:06:04 +02:00
Carl Olsson b126921894 changed airspeed innovation gate to 5 (#119) 2016-05-12 10:05:26 +02:00
CarlOlsson ee7d7aeb8a fixed_airspeed_healthy_bug 2016-05-08 18:30:37 +02:00
CarlOlsson 8678a939e2 removed reinitialization of intermediate variables 2016-04-05 14:18:47 +02:00
CarlOlsson eee6f1048f Changed vtaspred threshold 2016-04-04 16:27:06 +02:00
CarlOlsson 3ad5b52aea removed comment 2016-04-04 16:26:46 +02:00
CarlOlsson 616725410d updated calculation 2016-04-04 16:26:13 +02:00
CarlOlsson ec9902d802 added fault status reporting 2016-04-04 16:21:12 +02:00
CarlOlsson 1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00
CarlOlsson f5a9afd278 moved init 2016-03-30 17:01:03 +02:00
CarlOlsson f990d99790 fixed bug 2016-03-30 17:01:03 +02:00
CarlOlsson 4301e1105b added commas 2016-03-30 17:01:03 +02:00
CarlOlsson 81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
CarlOlsson d440c883b5 adopted ekf_interface.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson f8878d41dc adopted ekf_helper.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson 6bb2f7638c adopted ekf.h 2016-03-30 17:01:03 +02:00
CarlOlsson 0918fa04c7 adopted ekf.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson 92abf93c8f adopted common.h 2016-03-30 17:01:03 +02:00
CarlOlsson 0fb1e0578b added function for fusing airspeed 2016-03-30 17:01:03 +02:00
CarlOlsson 1e766c7510 moved fuse function to ekf_helper.cpp 2016-02-12 15:54:32 +01:00