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259 Commits 852 Branches 161 Tags
Commit Graph

197 Commits

Author SHA1 Message Date
CarlOlsson
1ea26b406a change name to true_airspeed 2016-04-04 16:10:52 +02:00
Roman Bapst
27b894540e put airspeed fusion logic but don't actually call it yet 2016-03-30 17:01:03 +02:00
Roman Bapst
1b7115dec9 increased airspeed fusion rate to 12.5Hz 2016-03-30 17:01:03 +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
Paul Riseborough
400a6e12ba EKF: Ensure all data in buffers is initialised 
This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
 2016-03-20 15:14:16 +11:00
Paul Riseborough
064a0e4dbc EKF: Don't use GPS to set position noise when not using GPS 2016-03-16 20:12:36 +11:00
Paul Riseborough
c23d72ba29 EKF: Ensure filter control modes are correctly initialised 2016-03-16 17:22:27 +11:00
Paul Riseborough
9f3b1351f7 EKF: Don't initialise velocity to GPS on initial alignment 
For initial alignment the velocity and position should start at zero
 2016-03-16 17:20:57 +11:00
Paul Riseborough
687fcc70be EKF: Explicitly define type conversion for GPS height 2016-03-16 17:18:20 +11:00
Paul Riseborough
e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough
6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough
63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough
49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa EKF: Don't start the output observer before the main filter has initialised 
This prevents the possibility of output transients if alignment is delayed.
 2016-03-13 21:17:51 +11:00
Paul Riseborough
d2407c3463 EKF: code style updates 2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Paul Riseborough
109e0e6dfc EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
26238bc2f5 EKF: Allow for change in position when defining the WGS-84 origin position 
This allows GPS aiding to commence later in flight without step changes in local position output
 2016-03-11 11:03:43 +11:00
Paul Riseborough
e0fcce1463 EKF: Make position and velocity reset publish success 
Some users of the position and velocity reset functions will need to know if the reset has been successful.
 2016-03-11 11:03:43 +11:00
Paul Riseborough
48f980b054 EKF: Fix syntax causing posix build to fail 2016-03-11 11:03:43 +11:00
Paul Riseborough
eab0ef4266 EKF: Update default process noise for terrain estimator 2016-03-11 11:03:43 +11:00
Paul Riseborough
962fd0aaf2 EKF: Adjust terrain process noise for gradient effect 2016-03-11 11:03:43 +11:00
Paul Riseborough
1a2da887ab EKF: Fix bug in calculation of terrain estimator Kalman gain 2016-03-11 11:03:43 +11:00
Paul Riseborough
cc5512905a EKF: prevent optical flow, GPS and baro fusion from blocking each other 2016-03-11 11:03:43 +11:00
Paul Riseborough
ffebaf384f EKF: Set initial optical flow fusion monitor outputs to zero 2016-03-11 11:03:43 +11:00
Paul Riseborough
5acd1cbac4 EKF: Make definitions of parameters clearer for external use 2016-03-11 11:03:43 +11:00
Paul Riseborough
dd1d58bab5 EKF: Remove unnecessary matrix operations from optical flow fusion 
The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
 2016-03-11 11:03:43 +11:00
Paul Riseborough
b3b0f1347a EKF: Make normal GPS mode the default 2016-03-11 11:03:43 +11:00
Paul Riseborough
d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough
836fe39070 EKF: Update external interface functions to support optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
2ff338048d EKF: Add support for range-finder fusion as primary height reference 2016-03-11 11:03:43 +11:00
Paul Riseborough
2c2850c0ce EKF: Add functions to get position and velocity state variance 2016-03-11 11:03:43 +11:00
Paul Riseborough
32b03819ef EKF: Add function to calculate global position validity 2016-03-11 11:03:43 +11:00
Paul Riseborough
270451e17b EKF: Update height reset to support range finder height use 2016-03-11 11:03:43 +11:00
Paul Riseborough
dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
122dd9c531 EKF: Add source file for optical flow LOS rate fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough
82cbfafb34 EKF: Add source file for terrain vertical position estimator 
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
 2016-03-11 11:03:43 +11:00
mcsauder
6a61f9ba77 Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications. 2016-03-05 02:17:55 -07:00
mcsauder
115c87a0ea Remove an include that was unnecessary. 2016-03-05 02:15:04 -07:00
mcsauder
1aee1b895a Uncomment commented lines that removed Eigen namespaces and dependencies. 2016-03-05 02:12:26 -07:00