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
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
2016-03-05 08:58:19 +11:00
1414d591ce
EKF: Fix bug in declination fusion indexing
2016-03-05 08:43:33 +11:00
b2744f965d
use in_air flag from land detector to determine if we are on the ground
2016-03-03 10:53:39 +01:00
569886a4fc
EKF: Fix bug in velocity and position innovation consistency checks
2016-03-03 17:15:22 +11:00
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
2016-03-02 08:42:38 +01:00
d8627c6aaf
EKF: Reset the vertical position states if height fusion times out
2016-03-02 08:39:07 +01:00
f7a53d69f2
EKF: Improve height reset function
...
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
a6da73fa83
EKF: Add missing div0 protection
2016-03-01 18:03:35 +11:00
d5e47d21db
EKF: miscellaneous comment and format changes
2016-03-01 15:35:45 +11:00
7c83ac4b6d
EKF: Use heading fusion as default for startup and ground operation
2016-03-01 15:35:17 +11:00
57d4064d7b
EKF: Increase default heading observation noise
...
Improves robustness when operating in a bad magnetic field environment
2016-03-01 15:28:53 +11:00
97df006a6a
EKF: Update direct heading fusion
...
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
2c9a814de1
Merge pull request #64 from mcsauder/master
...
Additional filter variable initializations required to fully reset the filter variables
2016-02-26 23:06:56 +11:00
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
...
EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +11:00
5fb48a2e7b
Merge remote-tracking branch 'upstream/master'
2016-02-25 22:51:58 -07:00
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
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
...
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
a30830a7a9
EKF: Scale position observation noise with GPS quality
...
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
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
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
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
2016-02-25 08:16:42 +11:00
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
...
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
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
2016-02-24 12:06:11 +11:00
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
2016-02-24 11:56:12 +11:00
016695fc3e
EKF: Reduce startup transients
...
Update initial state variance values
2016-02-24 11:48:42 +11:00
6613335937
Added constexpr back from const var type.
2016-02-23 16:15:52 -07:00
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
2016-02-23 15:52:02 -07:00
48e80e9e3e
Correct C style array initialization.
2016-02-23 15:16:40 -07:00
f9f00fa52b
Remove unnecessary include.
2016-02-23 14:00:39 -07:00
ccb5736353
Spaces to tab.
2016-02-23 19:58:30 -07:00
a4cecb1704
Match variable initialization order difference with upstream.
2016-02-23 19:57:27 -07:00
79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
...
Shared Library build
2016-02-23 08:30:46 +01:00
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
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
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
...
Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
...
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
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
...
EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
mcsauder