bugobliterator
a779d45cd0
ekf2: fix bug causing faulty imu data storage
2016-01-29 23:56:24 -08:00
bugobliterator
92dc41e885
EKF: fix typo in function declaration
2016-01-29 20:05:07 -08:00
bugobliterator
3eea6cdcc5
EKF: use namespace for structure definitions
...
will be moved to a separate file in the future
2016-01-29 20:04:21 -08:00
bugobliterator
001d621eb1
EKF: move imu data processing code to estimator core
2016-01-29 20:03:25 -08:00
bugobliterator
251996d387
ekf: move gps checks to Ekf library from estimator_base
2016-01-29 17:15:18 -08:00
Paul Riseborough
46b0e9654c
Add filter control logic
2016-01-30 09:01:48 +11:00
Paul Riseborough
9236f11c80
EKF: Add position and velocity innovation consistency checks
2016-01-28 16:33:54 +11:00
Paul Riseborough
7713cc8c20
Merge pull request #17 from priseborough/pr-addMagErrHandling
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EKF: Add magnetometer fusion error handling
2016-01-28 13:43:57 +11:00
Lorenz Meier
f4b2c0eecf
Merge pull request #11 from mcharleb/PRIu64-fix
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Fixed printf of uint64_t
2016-01-28 01:01:10 +01:00
Paul Riseborough
802129f384
EKF: Add magnetometer fusion error handling
2016-01-28 09:53:55 +11:00
Paul Riseborough
39eef3a2d7
EKF: Remove use of camel case variable names
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Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
2016-01-28 08:37:45 +11:00
Paul Riseborough
cc50d26601
EKF: Update comments
2016-01-28 08:13:38 +11:00
Paul Riseborough
4526cb9c4f
EKF: remove redundant variable
2016-01-28 07:50:45 +11:00
Paul Riseborough
6326433c47
EKF: Eliminate call to hrt_absolute_time()
...
This will make the library more portable
2016-01-27 19:04:31 +11:00
Paul Riseborough
94a6644684
Add comprehensive user selectable GPS checks
2016-01-25 13:07:57 +11:00
Roman
8d0022ab1e
enable estimator state and innovations data logging
2016-01-22 11:31:14 +01:00
Roman
86df68e404
added interface for parameters
2016-01-22 10:45:03 +01:00
nickolasrossi
dfbbd36ff7
fix buffer overflow in constrain of wind velocity
2016-01-19 18:25:22 -08:00
Mark Charlebois
79bf35c4b3
Fixed printf of uint64_t
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Must use PRIu64 to prevent compiler errors.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-01-18 22:19:10 -08:00
Roman
0b5c90574c
fix delta angle bias usage:
...
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
2016-01-14 17:06:02 +01:00
Roman
2af5856361
initialise output height with baro
2016-01-08 06:59:10 +01:00
Roman
a41f75ffb1
use full mag fusion
2016-01-08 06:59:10 +01:00
Roman
f8354bb5e9
- do not fake vertical gps measurement as we have baro
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- formatting
Conflicts:
EKF/ekf.cpp
2016-01-08 06:59:10 +01:00
Roman
2a88fc6cfd
initialise vertical position correctly
2016-01-08 06:42:22 +01:00
Roman
5aa5f7f8c3
use correct timestamp for measurements
2016-01-08 06:42:03 +01:00
Mark Charlebois
b8837b4dc6
Added hexagon support
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std::to_string is not supported in the Hexagon complier
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-01-07 14:54:55 -08:00
Paul Riseborough
edfb7aefcc
EKF: Fix initial alignment errors
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Use the gravity vector to estimate the initial roll and pitch angle
Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading
2016-01-03 00:03:03 +11:00
Lorenz Meier
52cb9d02c7
EKF: Initialize all local structs and variables
2016-01-01 12:31:36 +01:00
Paul Riseborough
0cb210d045
EKF: Changes required to enter POSCTL mode
2016-01-01 11:56:38 +11:00
Lorenz Meier
eda69e727f
Do not print states by default
2015-12-24 13:48:22 +01:00
Roman
457a57c6ff
use simple heading fusion
2015-12-22 18:00:59 +01:00
Lorenz Meier
6b49e2495c
Fix field initializers
2015-12-22 17:25:08 +01:00
Lorenz Meier
8894786752
Estimator base: Fix printf formatting
2015-12-22 17:24:58 +01:00
Lorenz Meier
faf48242ed
EKF: Fix ringbuffer warnings
2015-12-22 17:24:43 +01:00
Roman
5e5d6f432a
added static gps mode and init mag state correctly
2015-12-22 11:22:17 +01:00
Roman
f153a7cb44
added ifdef guard
2015-12-19 09:40:32 +01:00
Roman Bapst
d233ca3990
added complementary filter for real time state estimation
2015-12-10 16:36:10 +01:00
Roman Bapst
67646a15b0
added full mag fusion
2015-12-10 09:07:00 +01:00
Roman
8de8b0eb76
prediction and vel pos heading fusion working
2015-12-09 17:47:52 +01:00
Roman
921df43d32
added tests for EKF ringbuffer
2015-12-07 22:41:11 +01:00
Roman
d90c8fd7c2
fixed bug in covariance prediction
2015-12-07 22:41:11 +01:00
Roman
cfc39bc2f9
implemented prediction of states and covariance matrix
2015-12-07 22:41:11 +01:00
Roman
b52e38eb9d
fix
2015-12-07 22:41:11 +01:00
Roman
cd5db8f494
enhance ringbuffer
2015-12-06 17:07:44 +01:00
Roman
b3491bcfc3
added file with ekf helper functions
2015-12-06 13:19:25 +01:00
Roman
859502753d
added file with covariance calculations
2015-12-06 13:10:49 +01:00
Roman Bapst
144aa9c461
added base class for data storage
2015-12-05 11:08:06 +01:00
