kamilritz
89bfcc2167
Introduce checkAndFixCovarianceUpdate(KHP) function
2020-07-16 18:25:06 +02:00
kamilritz
5c4a3d4576
Make observation jacobian a Vector24f when possible
2020-07-16 18:25:06 +02:00
kamilritz
b5e1397c0f
Add const modifier
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const modifier
Add missing const modifier
2020-07-16 18:25:06 +02:00
kamilritz
b5765eb3b4
Move variable declaration to better place &
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remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
2020-07-16 18:25:06 +02:00
kamilritz
05855b7fc1
Update time of last fusion event really only if fused
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Except for the velpos fusion
2020-07-16 18:25:06 +02:00
kamilritz
efd96db49d
Avoid setting 0 to 0
2020-07-16 18:25:06 +02:00
kamilritz
16a00eae0b
Make Kfusion a Vector24f
2020-07-02 09:02:24 +02:00
kamilritz
356b2f6ffe
Stop setting zero to zero
2020-07-02 09:02:24 +02:00
kamilritz
552bf824ea
Add typedef for Matrix 24 types
2020-07-02 09:02:24 +02:00
kamilritz
48f0eb16da
Remove uninformative comments
2020-06-26 08:26:26 +02:00
kamilritz
4a69b41015
Increase matrix library usage even more
2020-06-26 08:26:26 +02:00
kamilritz
a3706fdcef
Make relative wind computation more compact
2020-06-26 08:26:26 +02:00
kamilritz
ff8b5ec69d
Extract general functions into utils
2020-06-23 08:18:34 +02:00
kritz
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
2020-05-13 08:09:26 +02:00
kamilritz
9e6d27fafb
Add missing const qualifier
2020-01-08 09:00:31 +01:00
Paul Riseborough
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
2020-01-02 19:26:57 +11:00
kamilritz
92ba618f57
Improve on flash memory usage
2020-01-02 19:26:57 +11:00
kamilritz
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
2020-01-02 19:26:57 +11:00
kamilritz
1bf09fd370
Remove EKF prefix from logged messages
2019-12-12 08:48:10 +01:00
Paul Riseborough
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
2019-10-23 14:44:08 +03:00
kritz
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
2019-09-25 11:24:42 +02:00
Carl Olsson
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2019-03-18 10:20:33 -04:00
Paul Riseborough
ae069b12d6
EKF: Fix bug preventing wind relative dead reckoning
2018-04-21 13:04:04 -04:00
Daniel Agar
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
Paul Riseborough
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
Paul Riseborough
e4ffe199ed
EKF: fix bug in sideslip fusion activation
2017-10-20 14:44:37 +11:00
Daniel Agar
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
Daniel Agar
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
Paul Riseborough
750a8874c1
EKF: Improve recovery and reporting for badly conditioned sideslip fusion
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Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
2016-11-05 12:19:01 +01:00
Paul Riseborough
f76a2a5ff7
EKF: fix bug in sideslip fusion and reduce RAM usage
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The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
2016-11-05 12:19:01 +01:00
Paul Riseborough
2fedbc8a18
EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency
2016-11-05 12:19:01 +01:00
Paul Riseborough
fb6f4be453
EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning
2016-11-05 12:19:01 +01:00
CarlOlsson
0e3ae4b323
fixed issue with the covariance update in synthetic sideslip fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
f5d0228cd5
include ecl.h
2016-11-05 12:19:01 +01:00
CarlOlsson
beb90f008d
adopted code for upstream changes
2016-11-05 12:19:01 +01:00
CarlOlsson
b7a4a1358f
added sidelip_fusion.cpp
2016-11-05 12:19:01 +01:00
