Roman Bapst
27b894540e
put airspeed fusion logic but don't actually call it yet
2016-03-30 17:01:03 +02:00
CarlOlsson
f5a9afd278
moved init
2016-03-30 17:01:03 +02:00
CarlOlsson
4301e1105b
added commas
2016-03-30 17:01:03 +02:00
CarlOlsson
0918fa04c7
adopted ekf.cpp
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
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
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
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
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
d97d308ca7
EKF: Add control of optical flow and range finder fusion
2016-03-11 11:03:43 +11:00
Paul Riseborough
d5e47d21db
EKF: miscellaneous comment and format changes
2016-03-01 15:35:45 +11:00
mcsauder
5fb48a2e7b
Merge remote-tracking branch 'upstream/master'
2016-02-25 22:51:58 -07:00
mcsauder
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
2016-02-25 22:51:14 -07:00
Paul Riseborough
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
2016-02-24 11:56:12 +11:00
mcsauder
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
2016-02-23 15:52:02 -07:00
mcsauder
48e80e9e3e
Correct C style array initialization.
2016-02-23 15:16:40 -07:00
mcsauder
ccb5736353
Spaces to tab.
2016-02-23 19:58:30 -07:00
mcsauder
a4cecb1704
Match variable initialization order difference with upstream.
2016-02-23 19:57:27 -07:00
mcsauder
79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
mcsauder
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
mcsauder
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
Paul Riseborough
a711632017
EKF: Add method to fuse horizontal magnetometer data
...
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
2016-02-20 19:45:32 +11:00
mcsauder
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
mcsauder
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
Paul Riseborough
c089079321
EKF: Split tilt and yaw align
2016-02-14 22:01:53 +01:00
Paul Riseborough
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
2016-02-14 22:01:53 +01:00
Roman
ce0ddc0207
-added comments
...
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
Paul Riseborough
9d7340e187
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-14 09:49:26 +01:00
Paul Riseborough
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
2016-02-14 09:49:26 +01:00
Paul Riseborough
fff2bd50f6
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-10 15:16:05 +11:00
Paul Riseborough
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
2016-02-10 10:25:27 +11:00
Paul Riseborough
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
Paul Riseborough
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
...
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
2016-02-08 14:18:43 +11:00
Paul Riseborough
3f81eb7d1b
EKF: fix formatting
2016-02-04 17:15:03 +11:00
Lorenz Meier
b21a49b3f9
EKF: Use standard C++ initializers
2016-01-31 23:24:36 +01:00
Roman
b749a7557b
fixed typos
2016-01-31 21:36:58 +01:00
bugobliterator
d79e12dfa1
EKF: fix code style
2016-01-31 00:12:16 -08:00
bugobliterator
b05e2d825c
EKF: move estimator specific initialisations to estimator core
2016-01-30 12:42:24 -08:00
Paul Riseborough
466a104534
EKF: additional GPS check logic
...
Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
2016-01-30 12:21:39 -08:00
bugobliterator
a779d45cd0
ekf2: fix bug causing faulty imu data storage
2016-01-29 23:56:24 -08:00
bugobliterator
001d621eb1
EKF: move imu data processing code to estimator core
2016-01-29 20:03:25 -08:00
Paul Riseborough
46b0e9654c
Add filter control logic
2016-01-30 09:01:48 +11:00
Paul Riseborough
802129f384
EKF: Add magnetometer fusion error handling
2016-01-28 09:53:55 +11:00
