fc6c0c7ebf
EKF: Update covariance prediction
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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
2016-05-05 21:23:03 +10:00
ecaffe63af
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
7a74d58591
EKF: reduce initial accel bias uncertainty
2016-05-05 21:23:03 +10:00
a7d08d08fc
EKF: Relax tilt alignment check
2016-05-05 21:23:03 +10:00
5523a4f225
EKF: Fix IMU bias compensation scale error in output filter
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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
2016-05-05 21:23:03 +10:00
fd109b00ab
EKF: replace in-line code with existing function
2016-05-05 21:23:03 +10:00
727a43764f
EKF: update initial angle alignment check
2016-05-05 21:23:03 +10:00
bc34b14779
EKF: Initialise height state variance to a value compatible with the measurement
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A large height state variance and small measurement variance can destabilise the filter in the first few seconds after alignment
2016-05-05 21:23:03 +10:00
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
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This also makes the tuning less sensitive to changes in the EKF update rate.
2016-05-05 21:23:03 +10:00
799865c934
EKF: update default tuning parameters
2016-05-05 21:23:03 +10:00
f01f4ae4b1
EKF: tidy up mag declination fusion
2016-05-05 21:23:03 +10:00
0d31aad33a
EKF: Fix bad limit on magnetometer noise parameter
2016-05-05 21:23:03 +10:00
7069fb7a04
EKF: refresh auto code for mag fusion
2016-05-05 21:23:03 +10:00
ffea65e1a4
EKF: fix bug in state prediction
2016-05-05 21:23:03 +10:00
63f093a10a
EKF: Update upper limits for state variances
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This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction
2016-05-05 21:23:03 +10:00
26a51c667d
EKF: Improve robustness to initial gyro bias errors
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Allows for ~6 deg/sec of startup bias
2016-05-05 21:23:03 +10:00
7530e30012
EKF: Improve IMU data collection
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Use IMU driver published delta angle integration time to determine when enough data has been accumulated.
Perform basic first order sculling corrections on delta velocity data
Comment steps to make make method clearer
2016-05-05 21:23:03 +10:00
f23f0b1035
EKF: fix bugs in stationary process model covariance prediction
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Noise variance for stationary states was being overwritten by the covariance prediction operations for the kinematic states
Unwanted states could end up with non-zero covariance values
The forced symmetry operation was being applied too late to be effective
2016-05-05 21:23:03 +10:00
a373ada858
EKF: explicitly define floating point type in hardcoded constants
2016-05-05 21:23:03 +10:00
f4e84a2234
EKF: fix axis label error in comments
2016-05-05 21:23:03 +10:00
82da832816
EKF: tidy up Kalman gain calculations
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Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
2016-05-05 21:23:03 +10:00
311d046a26
EKF: Enable optional activation of XY delta velocity bias estimation
2016-05-05 21:23:03 +10:00
572c2280bd
EKF: tidy up covariance prediction
2016-05-05 21:23:03 +10:00
54e713969d
EKF: Fix rebase error
2016-05-05 21:23:03 +10:00
67d23948b5
EKF: preliminary re-tune
2016-05-05 21:23:03 +10:00
03c35266ef
EKF: remove unused parameter
2016-05-05 21:23:03 +10:00
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
22d18d638c
enable Wshadow
2016-05-04 19:45:40 -04:00
f2dda3c183
ekf: initialize _terrain_var, fixes access to uninitialized value
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in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the
valgrind output:
==15439== Thread 14 ekf2:
==15439== Conditional jump or move depends on uninitialised value(s)
==15439== at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so)
==15439== by 0x4D1AF0: Ekf::get_terrain_vert_pos(float*) (terrain_estimator.cpp:135)
==15439== by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655)
==15439== by 0x42BF3D: entry_adapter(void*) (px4_posix_tasks.cpp:103)
==15439== by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so)
==15439== by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)
2016-05-02 17:35:42 +02:00
0c77ebf6bd
EKF: Reduce likelihood of bad covariance values after height resets
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The cross terms (covariances) are now reset before the variance variance is set.
The vertical velocity state variance following a reset without GPS has been reduced.
2016-05-01 21:39:56 +10:00
6c57bea1c3
EKF: fix bug in IMU error application timing patch
2016-04-30 15:11:12 +10:00
15df20831a
EKF: improve output complementary filter tracking
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Optimise for height tracking and adjust gains automatically with changes in time delay.
2016-04-30 11:03:45 +10:00
4fa1e9c651
EKF: Fix timing errors in state prediction
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IMU corrections were being applied at the wrong time horizon to the EKF states
IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.
2016-04-30 11:02:19 +10:00
f8a48f9cc5
ekf: now it should even compile for NuttX
2016-04-28 16:30:49 +02:00
12f4d6f703
ekf: another stab at fixing isfinite for all
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The previous solution did not work for Snapdragon, so I needed to copy
what is used in px4_defines.h.
2016-04-28 16:09:12 +02:00
22ad87599c
Merge pull request #112 from PX4/fix_ubuntu1604_2
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ekf: compile fix for Ubuntu 16.04
2016-04-27 21:21:04 +10:00
46e207106b
ekf: use std::isfinite instead of isnan
2016-04-27 12:58:22 +02:00
4fcbfb5d42
EKF: correct error in comment
2016-04-23 07:55:25 +10:00
3e81b86280
EKF: improve height reset logic
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Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
2016-04-22 10:50:53 +10:00
874558d194
EKF: improve detection of bad vert accel data
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Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
2016-04-22 09:24:04 +10:00
469a7d1711
EKF: rework height reset
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calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
2016-04-22 08:43:56 +10:00
e3365525c2
EKF: rework height reset logic
2016-04-22 08:39:24 +10:00
421703c267
EKF: rework initialisation of height state and offsets
2016-04-22 08:38:41 +10:00
a7417657c3
EKF: ensure fusion timeout counters are reset when required
2016-04-22 08:33:11 +10:00
10bf05e9a6
EKF: publish the vertical position offset
2016-04-22 08:30:46 +10:00
0de15b1b20
EKF: Add variables to monitor vertical position and height offset
2016-04-22 08:28:56 +10:00
62c6d40f1f
EKF: Add methods to ring buffer to access specific indices
2016-04-22 08:21:36 +10:00
b295f9050c
EKF: ensure GPS check status is correctly initialised
2016-04-20 21:53:15 +10:00
9487eac505
Merge pull request #98 from priseborough/pr-ekf2StatusReporting
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EKF: improve reporting of filter status
2016-04-20 11:44:02 +02:00
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
2016-04-19 12:47:57 +02:00
Paul Riseborough