6bc6f26043
range_finder_checks: set range height to valid if signal quality is non-zero
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-24 07:55:37 +11:00
6299d8199c
ekf_helper: use latest validated range sample to reset height
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-24 07:55:37 +11:00
00f49e62c2
cleanup checks of range finder data
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-10-24 07:55:37 +11:00
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
2019-10-23 14:44:08 +03:00
36de2b3dc1
EKF: Use matrix library for quaternion to rotation matrix conversion
2019-10-23 14:44:08 +03:00
29f71fff96
ekf: Add override specifier for all functions that override virtual functions of the estimator interface class
2019-10-22 09:12:19 -04:00
50167bfbcf
estimator interface: add deprecated functions for backward compatibility
2019-10-22 20:19:56 +11:00
b38458c2ab
Terrain estimator: formatting and remove redundant comments
2019-10-22 20:19:56 +11:00
0aef0eda59
terrain_estimator: remove dead code. Since the terrain estimator is
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constantly reset on ground, it is not necessary anymore to fuse fake
measurements on ground if the range measurements are bad.
2019-10-22 20:19:56 +11:00
370e04ee60
terrain_est: Continuously reset terrain height on ground using known
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clearance. This is the best estimate as we should not rely on a distance
sensor while on the ground. This also helps when the drone is carried
over as it avoids starting with a crazy downward distance for optical
flow scaling.
2019-10-22 20:19:56 +11:00
e09e3e17a1
control: rename _range_aid_enabled to _is_range_aid_suitable
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rename rangeAidConditionsMet to checkRangeAidSuitability
2019-10-15 11:10:36 +02:00
fac69d07a3
control: refactor rangeAidConditionsMet function
2019-10-15 11:10:36 +02:00
eae6e8f19c
EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4
2019-10-08 20:08:42 +11:00
4e946d5bcb
implemented synthesized magnetometer Z measurement
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- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
2019-10-08 20:02:16 +11:00
f005e0ea8f
Remove deprecated ev_innov_gate param
2019-09-27 10:00:45 -04:00
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
2019-09-25 11:24:42 +02:00
bb88d4ce5e
Undo wrong comment change
2019-09-24 08:50:29 +10:00
562731936a
Update quaternion direction in documentation pdf
2019-09-24 08:50:29 +10:00
8c061fb6a4
Fixing wrong label of quaternion direction
2019-09-24 08:50:29 +10:00
fe3fec413c
fix #595 and add new all-in-one conversion script (PX4 only)
2019-09-24 08:20:16 +10:00
83eb326076
Missing posNED
2019-09-24 07:48:46 +10:00
fd6b364c11
posNED to pos and velNED to vel and add ev vel covariances to reset
2019-09-24 07:48:46 +10:00
4f6ca3a74c
Replace rest of spaces with tabs
2019-09-24 07:48:46 +10:00
cea053820d
Remove spaces with tabs
2019-09-24 07:48:46 +10:00
1e57c4bbec
Fix white space
2019-09-24 07:48:46 +10:00
10cbd79db7
Rotate external vision info in reset function if necessary
2019-09-24 07:48:46 +10:00
4511b9ff5e
Add missing checks for flags.ev_vel
2019-09-24 07:48:46 +10:00
e7d927c899
Stop using bad GPS when we have vision velocity
2019-09-24 07:48:46 +10:00
bd8f05567a
set vel_pos_test_ratio to zero if no fusion happens
2019-09-24 07:48:46 +10:00
4b30de587f
Make vel_pos innov gate variable name clearer
2019-09-24 07:48:46 +10:00
4237d7ccd7
Improve external vision position fusion
2019-09-24 07:48:46 +10:00
3e8139ff9f
Enable vision velocity fusion
2019-09-24 07:48:46 +10:00
149233a9ab
Add velocity observations to external vision interface
2019-09-24 07:48:46 +10:00
62a1e07512
ecl_EKF: Do not include SquareMatrix from Matrix library
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because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
2019-09-18 08:42:58 +02:00
4c4c1f2984
Use copyTo for writing to memory blocks
2019-09-18 08:42:58 +02:00
8cc8db211c
Fix copy_quaternion reference in code generation
2019-09-18 08:42:58 +02:00
8d60f8ba8f
Remove direct unsafe access to matrix internal data
2019-09-18 08:42:58 +02:00
c446ee444a
EKF: fake rng if faulty on ground
2019-09-18 10:15:37 +10:00
4f19d457c4
ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active
2019-09-18 09:27:24 +10:00
93eb1266f6
EKF: reset position when stopping GPS use and EV is active
2019-09-18 08:33:40 +10:00
267195a11b
EKF: remove check for faulty flag in fake rng
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This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
2019-09-12 17:45:37 +10:00
933189eac0
EKF: fix rng_faulty flag when sensor is stuck
2019-09-12 17:45:37 +10:00
640e41cba7
EKF: change rangeSample quality to int8_t
2019-09-12 17:45:37 +10:00
a12186c285
terrain_estimator: introduce quality metric in rng
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This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
2019-09-12 17:45:37 +10:00
3e05fd552e
EKF: Compensate for bad range finder data when on ground
2019-09-12 17:45:37 +10:00
3b32ee4166
Flow aiding - Reset state when flow is enabled only if it is the only
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position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
2019-09-03 09:58:33 +02:00
be368f3656
Update comment
2019-08-29 08:34:10 +10:00
c5abfe626f
remove canonicalize and adapt comments
2019-08-29 08:34:10 +10:00
a2ff415fe4
Fix get frame aligning quaternion function
2019-08-29 08:34:10 +10:00
53eac6e94e
Canonicalize alignment quaternion
2019-08-29 08:34:10 +10:00
RomanBapst