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80 Commits

Author SHA1 Message Date
kamilritz
9e211d6ca1 Stop overwriting fault status with false if one component is true 2020-07-02 15:55:24 +02:00
kamilritz
16a00eae0b Make Kfusion a Vector24f 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
Daniel Agar
2927132954 clang-format set BreakBeforeBraces to Linux style 
- this keeps things consistent with PX4/Firmware astyle
 2020-06-25 13:23:52 -04:00
bresch
aa96fa6d9e Random style fixes in the code 2020-06-05 20:44:30 +02:00
Kamil Ritz
86fc94b75a Remove tilt align from position innovation check 2020-05-25 11:12:24 +02:00
Mathieu Bresciani
230c865fa9
EKF: do not fuse multiple times the same height (#767) 
* EKF: do not fuse multiple times the same height

The _fuse_height flag was never set to zero, hence the fusion was called
at each iteration, even if no new data is available.
The effects were: high CPU usage and virtually less measurement noise
due to multiple fusion of the same sample

Also remve unused variables
 2020-03-04 10:31:22 +01:00
kamilritz
f20726d47f Expand auto-format coverage and tiny style changes 2020-01-27 16:54:25 +01:00
kamilritz
1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz
36da8d82c8 Clean up white space 2020-01-08 09:00:31 +01:00
kamilritz
9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
Paul Riseborough
0d0f46ec1c EKF: Don't run unnecessary makeRowColSymmetric operation 
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 
and use functions from Matrix to reset covariances.
 2020-01-02 19:26:57 +11:00
kamilritz
dae8c2f8dc Group velocity and position as a 3d vector 2019-12-05 20:09:34 +11:00
kamilritz
86b9079bdc Refactoring velPos fusion 2019-12-05 20:09:34 +11:00
kamilritz
fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz
1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz
bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz
3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
Carl Olsson
f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Dion Gonano
2354c30d81 Add vision height covariance passthrough (#507) 
* Add vision height covariance passthrough

* Fix hgtErr layout
 2018-09-11 06:36:13 +10:00
Paul Riseborough
8a713398cb EKF: Improve ground effect compensation 
Start deadline at zero so that initial rotor wash effect is rejected.
 2018-06-09 22:23:55 +02:00
Paul Riseborough
75e65901ae EKF: fix bug causing height offset when GPS use stops 
This bug causes the last vertical velocity observation to be continuously fused.
 2018-05-10 10:55:56 +02:00
Daniel Agar
c5b2f59f57 PX4 style fixes (excluding EKF generated code) 2018-05-03 22:25:36 -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
89be63d6c2 EKF: Fix vel pos innovation logging bug 2017-11-24 14:25:44 +11:00
Paul Riseborough
b0ad8269a5 EKF: enable separate monitoring of aux velocity innovations 2017-11-21 11:18:09 +11:00
Paul Riseborough
2a57fd858d EKF: clean up reset of fusion flags 2017-11-21 11:18:09 +11:00
Paul Riseborough
8e30c2666d EKF: Add support auxiliary velocity observation 
This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
 2017-11-21 11:18:09 +11:00
Paul Riseborough
a2b24fa960 EKF: Protect against ground effect induced static pressure rise during landing and takeoff. 
Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
 2017-11-17 21:41:31 +11:00
Paul Riseborough
01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
CarlOlsson
0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough
e08da1c599 EKF: Add ability to use EV and GPS data together 
Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
 2017-07-26 18:06:18 +10:00
Roman
a0ab5cf0d7 ekf vel_pos_fusion: added height sensor offset to range innovation calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Paul Riseborough
3dadc98b43 EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00
Paul Riseborough
cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
Beat Küng
25cb400da9 EKF: remove Ekf::KHP and move KHP to the methods where it's used 
Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.

This saves 2.3KB RAM.

Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
 2016-11-01 22:49:20 +01:00
Paul Riseborough
65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough
52f6eea52b EKF: capture position and velocity innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough
1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Paul Riseborough
00bada8f25 EKF: Clean up logic for horizontal position fusion 
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
 2016-05-27 11:29:10 +10:00
Paul Riseborough
6f412a73b4 EKF: Use correct height gate when using external vision 2016-05-27 11:24:53 +10:00
Carl Olsson
0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Paul Riseborough
e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough
349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
Paul Riseborough
ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
devbharat
d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00