mcsauder
f9be23933b
Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4.
2016-03-05 01:58:58 -07:00
Paul Riseborough
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
2016-03-05 08:58:19 +11:00
Paul Riseborough
1414d591ce
EKF: Fix bug in declination fusion indexing
2016-03-05 08:43:33 +11:00
Roman Bapst
b2744f965d
use in_air flag from land detector to determine if we are on the ground
2016-03-03 10:53:39 +01:00
Paul Riseborough
569886a4fc
EKF: Fix bug in velocity and position innovation consistency checks
2016-03-03 17:15:22 +11:00
mcsauder
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
2016-03-02 08:42:38 +01:00
Paul Riseborough
d8627c6aaf
EKF: Reset the vertical position states if height fusion times out
2016-03-02 08:39:07 +01:00
Paul Riseborough
f7a53d69f2
EKF: Improve height reset function
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Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
2016-03-02 08:39:07 +01:00
Paul Riseborough
a6da73fa83
EKF: Add missing div0 protection
2016-03-01 18:03:35 +11:00
Paul Riseborough
d5e47d21db
EKF: miscellaneous comment and format changes
2016-03-01 15:35:45 +11:00
Paul Riseborough
7c83ac4b6d
EKF: Use heading fusion as default for startup and ground operation
2016-03-01 15:35:17 +11:00
Paul Riseborough
57d4064d7b
EKF: Increase default heading observation noise
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Improves robustness when operating in a bad magnetic field environment
2016-03-01 15:28:53 +11:00
Paul Riseborough
97df006a6a
EKF: Update direct heading fusion
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Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
2016-03-01 15:25:22 +11:00
Paul Riseborough
2c9a814de1
Merge pull request #64 from mcsauder/master
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Additional filter variable initializations required to fully reset the filter variables
2016-02-26 23:06:56 +11:00
Paul Riseborough
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +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
Roman Bapst
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
Paul Riseborough
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
Paul Riseborough
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
2016-02-25 10:16:32 +11:00
Paul Riseborough
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
Paul Riseborough
5b5bddebea
EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode
2016-02-25 08:16:42 +11:00
Paul Riseborough
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
2016-02-25 08:16:42 +11:00
Paul Riseborough
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
2016-02-25 08:16:42 +11:00
Paul Riseborough
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
2016-02-24 12:06:11 +11:00
Paul Riseborough
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
2016-02-24 11:56:12 +11:00
Paul Riseborough
016695fc3e
EKF: Reduce startup transients
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Update initial state variance values
2016-02-24 11:48:42 +11:00
mcsauder
6613335937
Added constexpr back from const var type.
2016-02-23 16:15:52 -07:00
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
f9f00fa52b
Remove unnecessary include.
2016-02-23 14:00:39 -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
Roman Bapst
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
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Shared Library build
2016-02-23 08:30:46 +01:00
Paul Riseborough
a711632017
EKF: Add method to fuse horizontal magnetometer data
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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
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
2016-02-19 23:57:06 -07:00
Paul Riseborough
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
Paul Riseborough
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
Paul Riseborough
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
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Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
Paul Riseborough
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
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The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
2016-02-19 16:18:07 +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
bugobliterator
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
bugobliterator
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
bugobliterator
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
Paul Riseborough
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
