90ca012705
ekf_helper: restore oridinal quaternion decorrelation
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The intent of the function "uncorrelateQuatStates()" is to uncorrelathe quaternions from the other states but not between each other as they are and should remain linked alltogether.
Clearing the quaternions to quaternion covariances introduced unstabilities in other states (especially accel biases).
2020-02-12 22:03:22 +01:00
b6420d0b79
ekf: add vehicle at rest to flags
2020-02-12 18:58:24 +01:00
89bcebd631
EKF: Prevent covariance initialisation overwriting yaw variance
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Also typo fix
2020-02-05 15:20:34 +01:00
a3347b7e06
EKF: Use more conservative value for delta velocity bias process noise
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Smaller values have resulted in bias estimation divergence under some conditions
2020-02-05 15:20:34 +01:00
21054a4236
EKF: Fix bug causing incorrect covariance initialisation
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The covariance initialisation should not be performed before the quaternion states are initialised.
2020-02-05 15:20:34 +01:00
da752c9e30
Hot flow fusion fix
2020-01-28 17:19:51 +01:00
ee859e092a
Robustify timestamp checks ( #729 )
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* Robustify timestamp checks
* Remove lowerbound on sensor timestamp
* Add tests for fusion timeouts
* Inline and const time check functions
* Rename dead_reckoning time variable
2020-01-28 20:33:16 +11:00
f20726d47f
Expand auto-format coverage and tiny style changes
2020-01-27 16:54:25 +01:00
e3af91c9ce
Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel)
2020-01-24 17:22:50 +04:00
a3e1eb9d50
Checkout to matching firmware if possible
2020-01-24 16:18:42 +03:00
f3d790a664
Update optical flow interface
2020-01-24 16:18:42 +03:00
cafb1400fb
estimator_interface: bugfix, set range sample correctly
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-01-24 13:03:04 +01:00
4b0e7b2cff
Remove filtering on external vision alignment
2020-01-24 08:23:12 +01:00
de33885658
Update setExtVisionData interface
2020-01-23 14:50:43 +01:00
ed916c8006
Auto Formatting with clang-format-6.0 ( #727 )
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* Add clang-format
* Auto-format AlphaFilter and RingBuffer
* Update to tab=8spaces
* Allow for 120 width
2020-01-23 20:56:10 +11:00
dbf0bd43e8
EKF: update wind covariance initialization
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-01-23 10:27:54 +11:00
37201fb071
Remove legacy imu interface
2020-01-23 09:34:07 +11:00
7c3a2f839b
Update range finder interface
2020-01-23 09:34:07 +11:00
4fb2d1b02e
Update range finder interface
2020-01-23 09:34:07 +11:00
9f0d8ed59e
Update mag interface
2020-01-23 09:34:07 +11:00
856961ba85
Update airspeed interface
2020-01-23 09:34:07 +11:00
b8a3ed5f09
Update baro interface
2020-01-23 09:34:07 +11:00
74ec80cdc7
Update gps interface
2020-01-23 09:34:07 +11:00
a19c29e708
EKF: Rework yaw fusion to remove singularity at +-90 deg yaw
2020-01-23 09:23:56 +11:00
83b2abe434
protect against overflow
2020-01-21 10:09:48 +03:00
4be9ae8029
Compute the timestamp of average sample correctly
2020-01-21 10:09:48 +03:00
29c5954690
Move baro downsampling and dynamic pressure comp to ECL
2020-01-21 10:09:48 +03:00
d7d7b56519
Move mag down sampling to ECL lib
2020-01-21 09:36:02 +03:00
0f4439d281
optical flow: inhibit flow fusion only when the terrain estimate gets invalid
2020-01-15 16:07:17 +11:00
d06dc33ded
range_finder_checks: do not override range_hgt_valid flag with rng_stuck flag
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Thif fixes the issue where the range finder data is always set to valid
if not stuck.
2020-01-15 16:07:17 +11:00
d0fe1f032a
mag_fusion: re-introduce delay between mag reset and fusion, this was
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dropped during the mag fusion refactor PR #662
2020-01-15 14:40:06 +11:00
4044abdd20
fixed output state variable name state_variance to state_variances
2020-01-10 19:57:39 +05:30
cd9e81539c
Expand IMU Down Sampling tests
2020-01-09 19:43:29 +11:00
de58ab9167
inline newly added function save 60Bytes
2020-01-09 19:43:29 +11:00
be11516dd6
Refactor IMU downsampling into its own class
2020-01-09 19:43:29 +11:00
c7e074276f
Save flash space
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This commit saves roughly 400-500 Bytes in flash space
2020-01-09 19:43:29 +11:00
94484f01ce
save flash space
2020-01-08 14:36:03 +01:00
84dcb32bd8
Extend auxVel interface to support 3d velocity
2020-01-08 14:36:03 +01:00
07e8e88e88
Support full vision variance
2020-01-08 14:36:03 +01:00
4ab3dd50c9
pass Vector by const reference
2020-01-08 09:00:31 +01:00
2657e4fc0c
Improve naming and white space
2020-01-08 09:00:31 +01:00
1fcfd394dd
Various small non-functional improvements
2020-01-08 09:00:31 +01:00
deeac03d6a
Clean up height reset logic booleans
2020-01-08 09:00:31 +01:00
cec6d76577
Raise awareness for drag variance(!=stdDev) bug
2020-01-08 09:00:31 +01:00
0b18143745
Improve readibility
2020-01-08 09:00:31 +01:00
3daf25763e
Remove unnecessary comments
2020-01-08 09:00:31 +01:00
36da8d82c8
Clean up white space
2020-01-08 09:00:31 +01:00
48787c0160
Improve Matrix library usage
2020-01-08 09:00:31 +01:00
a21a7cd5b9
Remove output argument from calcEarthRateNed
2020-01-08 09:00:31 +01:00
9e6d27fafb
Add missing const qualifier
2020-01-08 09:00:31 +01:00
bresch