00c8821006
disable airspeed fusion for now. Needs more testing and implementation of side slip fusion
2016-04-19 11:18:45 +02:00
2fa8a11a29
EKF: replace unnecessary memcopy
2016-04-19 19:10:41 +10:00
99fc61c27c
ekf2 airspeed fusion:
...
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
2016-04-19 09:53:31 +02:00
82920da232
EKF: strengthen checking of local position status
...
provides immediate status reporting when dropping out of optical flow mode
2016-04-19 17:38:22 +10:00
31bf342fc1
EKF: publish GPS check status
2016-04-19 17:38:22 +10:00
6fa13c7806
EKF: publish control mode status
2016-04-19 17:37:27 +10:00
60abf07bee
added function to return accelerometer bias
2016-04-18 17:52:16 +02:00
f32303de69
added function to return accelerometer bias
2016-04-18 17:00:17 +02:00
3455931617
EKF init: Fix initialization statement
2016-04-17 19:29:23 +02:00
861c13f1fe
cmake STACK -> STACK_MAIN
2016-04-16 21:46:50 -04:00
ea38aa130f
EKF: update default time delay parameter values
2016-04-14 08:53:59 +10:00
8c55e36ca9
EKF: use common value for gravity
2016-04-12 11:14:31 +10:00
163c08a3ac
EKF: Improve output observer documentation
2016-04-12 11:14:31 +10:00
2dcc6e2053
EKF: Improve accuracy of state prediction
...
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
2016-04-12 11:14:31 +10:00
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
2016-04-12 11:14:31 +10:00
e10093854a
EKF: correct outputs for IMU offset
2016-04-12 11:14:31 +10:00
b46053415f
EKF: Compensate optical flow data for sensor position offset
2016-04-12 11:14:31 +10:00
48b105b748
EKF: correct range finder data for sensor position offset
2016-04-12 11:14:31 +10:00
e89dbb9f63
EKF: correct GPS data for antenna position offset
2016-04-12 11:14:31 +10:00
3580940e10
EKF: Add sensor position offset parameters
2016-04-12 11:14:31 +10:00
006b6b58e4
EKF: fix bug in status print statement
2016-04-12 10:38:50 +10:00
74078cde94
EKF: reset state variance when performing a height reset
...
Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
2016-04-11 19:40:27 +10:00
f4f108d57d
EKF: Reset vertical velocity when performing a height reset
2016-04-11 19:25:24 +10:00
f86ef34782
EKF: Fix error message which lied
2016-04-05 19:06:35 -07:00
a352c2f4e3
EKF: Fix posix build error
...
Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.
2016-04-05 18:57:21 -07:00
6b3ad03419
Merge pull request #86 from CarlOlsson/small_airspeed_fix
...
Small airspeed fix
2016-04-05 16:38:37 -07:00
430d4b1cf8
EKF: ensure data in buffers is zero at startup
2016-04-05 22:23:37 +02:00
470098e182
EKF: update default tuning parameters
...
Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
2016-04-05 22:23:37 +02:00
eaf94935f0
EKF: Fix bug in initialisation of height and magnetic field
...
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
2016-04-05 22:23:37 +02:00
03eac2f25e
EKF: Apply covariance prediction derivation changes
2016-04-05 22:23:37 +02:00
8678a939e2
removed reinitialization of intermediate variables
2016-04-05 14:18:47 +02:00
2632c930f7
Merge pull request #85 from CarlOlsson/add_error_reporting_tas
...
added fault status reporting
2016-04-04 18:52:06 +02:00
eee6f1048f
Changed vtaspred threshold
2016-04-04 16:27:06 +02:00
3ad5b52aea
removed comment
2016-04-04 16:26:46 +02:00
616725410d
updated calculation
2016-04-04 16:26:13 +02:00
ec9902d802
added fault status reporting
2016-04-04 16:21:12 +02:00
1ea26b406a
change name to true_airspeed
2016-04-04 16:10:52 +02:00
27b894540e
put airspeed fusion logic but don't actually call it yet
2016-03-30 17:01:03 +02:00
1b7115dec9
increased airspeed fusion rate to 12.5Hz
2016-03-30 17:01:03 +02:00
f5a9afd278
moved init
2016-03-30 17:01:03 +02:00
f990d99790
fixed bug
2016-03-30 17:01:03 +02:00
4301e1105b
added commas
2016-03-30 17:01:03 +02:00
81fc086b76
adopted ekf_interface.h
2016-03-30 17:01:03 +02:00
d440c883b5
adopted ekf_interface.cpp
2016-03-30 17:01:03 +02:00
f8878d41dc
adopted ekf_helper.cpp
2016-03-30 17:01:03 +02:00
6bb2f7638c
adopted ekf.h
2016-03-30 17:01:03 +02:00
0918fa04c7
adopted ekf.cpp
2016-03-30 17:01:03 +02:00
92abf93c8f
adopted common.h
2016-03-30 17:01:03 +02:00
0fb1e0578b
added function for fusing airspeed
2016-03-30 17:01:03 +02:00
400a6e12ba
EKF: Ensure all data in buffers is initialised
...
This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
2016-03-20 15:14:16 +11:00
Roman Bapst