8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
2016-06-01 17:13:00 +10:00
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
2016-06-01 17:13:00 +10:00
cf489f4248
EKF: capture airspeed innovation test failures
2016-06-01 17:13:00 +10:00
e7690bd8f8
EKF: capture magnetometer innovation test failures
2016-06-01 17:13:00 +10:00
3fb449295e
EKF: capture yaw innovation test failures
2016-06-01 17:13:00 +10:00
52f6eea52b
EKF: capture position and velocity innovation test failures
2016-06-01 17:13:00 +10:00
aea827aa8a
EKF: ensure filter fault status is initialised
2016-06-01 17:13:00 +10:00
106482b078
EKF: add structure to capture innovation test failures and state resets
2016-06-01 17:13:00 +10:00
70c40d695d
EKF: Initialise alignment noise filters using valid data
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Don't initialise the states for the alignment data noise filters until the buffers have been flushed
2016-05-28 09:04:26 +10:00
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
2016-05-28 08:28:57 +10:00
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
2016-05-27 14:00:50 +10:00
98c0b74a71
EKF: Initialise height correctly when using external vision data
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If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
2016-05-27 13:59:14 +10:00
9f81b8f09e
EKF: provide reset protection for external vision height
2016-05-27 13:15:53 +10:00
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
00bada8f25
EKF: Clean up logic for horizontal position fusion
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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
6f412a73b4
EKF: Use correct height gate when using external vision
2016-05-27 11:24:53 +10:00
e41524ac9d
EKF: remove unused variables
2016-05-27 11:21:04 +10:00
7dd123094f
EKF: correct documentation
2016-05-26 21:42:56 +10:00
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
2016-05-26 13:27:08 +10:00
e2d9e19a5d
Merge pull request #148 from PX4/pr-ekf2OutputPredictor
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EKF2 provide alternative output velocity prediction
2016-05-24 08:46:33 +10:00
5a40aa2c1a
EKF: prevent unwanted GPS use
2016-05-24 07:55:09 +10:00
90d65071c1
EKF: Add output predictor processing option
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Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.
This may improve height controller performance under some circumstances
2016-05-23 07:47:10 +10:00
30917430e2
EKF: inline ring buffer functions used repeatedly
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These functions get called 30 times each per output prediction cycle
2016-05-23 07:43:59 +10:00
c8c2d6d963
Merge pull request #145 from CarlOlsson/small_fix
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Deleted second update of transformation matrix
2016-05-23 07:40:58 +10:00
0fafc49a49
fixed typos ( #147 )
2016-05-22 17:40:43 +02:00
dbe2513d48
updated logic of calculation of body field variance ( #146 )
2016-05-22 17:39:25 +02:00
eb70aca2e8
deleted second update of transformation matrix
2016-05-22 16:03:30 +02:00
ae5071f668
EKF: Improve heading reset
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Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
2016-05-21 19:30:15 +10:00
a9ca8c294c
Generalized isfinite() in similar form as done in ekf.cpp https://github.com/PX4/ecl/blob/e3b9800cac459e7c279395c18191a872f465f848/EKF/ekf.cpp#L45-L52
2016-05-19 10:34:16 -06:00
6eaa00e3f9
isfinite() is not part of the math class, rather the math.h header file.
2016-05-19 10:07:45 -06:00
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
2016-05-19 09:58:18 -06:00
e3b9800cac
Merge pull request #138 from pickledgator/evTesting
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EV testing
2016-05-19 12:56:41 +10:00
c1b02eaa91
EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned
2016-05-18 21:06:45 +10:00
aaac867da8
EKF: Adjust tilt alignment threshold
2016-05-18 20:34:12 +10:00
e272d5f003
EKF: Use consistent position noise values during alignment
2016-05-18 20:11:08 +10:00
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
2016-05-18 19:25:19 +10:00
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
2016-05-18 19:25:19 +10:00
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
2016-05-18 19:25:19 +10:00
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
2016-05-17 21:07:04 -07:00
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
2016-05-18 12:16:16 +10:00
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
2016-05-17 12:47:20 +10:00
88860d0307
EKF: Enable tuning for IMU switch on bias errors
2016-05-17 11:17:24 +10:00
1540e937b1
EKF: Improve tilt alignment monitoring
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
2016-05-17 11:17:24 +10:00
c955bfbf93
EKF: fix previous merge error
2016-05-15 20:36:51 +10:00
920d83d68c
EKF: Fix bugs preventing use of external vision yaw data
2016-05-14 21:56:41 +10:00
13c3a95bc1
EKF: Add missing line returns
2016-05-14 21:17:30 +10:00
59eb9eb3db
EKF: fix shadow declaration arising from rebase
2016-05-14 21:17:30 +10:00
b985e58333
EKF: clean up control function
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With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
2016-05-14 21:17:29 +10:00
f4a0f69f6e
EKF: print to console when starting EV fusion
2016-05-14 21:17:29 +10:00
349c731375
EKF: remove PX4 dependant text output
2016-05-14 21:17:29 +10:00
Paul Riseborough