78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +11:00
5fb48a2e7b
Merge remote-tracking branch 'upstream/master'
2016-02-25 22:51:58 -07:00
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
2016-02-25 22:51:14 -07:00
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
2016-02-25 10:16:32 +11:00
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
5b5bddebea
EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode
2016-02-25 08:16:42 +11:00
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
2016-02-25 08:16:42 +11:00
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
2016-02-25 08:16:42 +11:00
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
2016-02-24 12:06:11 +11:00
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
2016-02-24 11:56:12 +11:00
016695fc3e
EKF: Reduce startup transients
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Update initial state variance values
2016-02-24 11:48:42 +11:00
6613335937
Added constexpr back from const var type.
2016-02-23 16:15:52 -07:00
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
2016-02-23 15:52:02 -07:00
48e80e9e3e
Correct C style array initialization.
2016-02-23 15:16:40 -07:00
f9f00fa52b
Remove unnecessary include.
2016-02-23 14:00:39 -07:00
ccb5736353
Spaces to tab.
2016-02-23 19:58:30 -07:00
a4cecb1704
Match variable initialization order difference with upstream.
2016-02-23 19:57:27 -07:00
79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
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Shared Library build
2016-02-23 08:30:46 +01:00
a711632017
EKF: Add method to fuse horizontal magnetometer data
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This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
2016-02-20 19:45:32 +11:00
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
2016-02-19 23:57:06 -07:00
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
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Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
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The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
2016-02-19 16:18:07 +11:00
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
2016-02-17 17:22:02 +11:00
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
294aca8609
EKF: Improve variance limiting for stationary states
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Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
2016-02-16 11:08:30 +11:00
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
69b8982043
EKF: Initialise variances to zero for un-used states
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Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
2016-02-16 11:08:30 +11:00
d9bf4e9870
EKF: Enable control mode transitions to be detected
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Save the previous value of the filter control modes
2016-02-16 11:08:30 +11:00
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
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This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
dba58aa4c6
EKF: Add control logic for fusion modes
2016-02-14 22:01:53 +01:00
22c177c951
EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode
2016-02-14 22:01:53 +01:00
c089079321
EKF: Split tilt and yaw align
2016-02-14 22:01:53 +01:00
Paul Riseborough