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1,624 Commits 852 Branches 161 Tags
274523bd985ca7fcf6c59abc57504afc9ec9e2b4
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1233 Commits

Author SHA1 Message Date
kamilritz 933c32c921 Enable local frame alignment also without using it 2019-08-29 08:34:10 +10:00
kamilritz ea352a6631 Dont use mag suffix for magnitude 2019-08-29 08:34:10 +10:00
kamilritz 05196db79e Fix alignment of local frame 2019-08-29 08:34:10 +10:00
bresch e1751188fd EKF - Initialize _deadrekon_time_exceeded to true. 
If no sample have been received, deadrekoning and local position should be invalid.
 2019-06-28 10:52:52 -04:00
Paul Riseborough a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00
Paul Riseborough 0e946f25fd EKF: Remove use of quaternion self product operator and fix delta rotation sign error 2019-06-17 19:24:55 +10:00
CarlOlsson ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
Paul Riseborough 7612fa40ed EKF: Don't start using GPS for height until all validity checks have passed 
Consolidate intermittent data checks, improve variable and clarify usage.
 2019-06-13 19:36:37 +10:00
Roman cef2ba5ab9 implemented Kahan summation algorithm for adding process noise to delta 
angle- and delta velocity bias variance

- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-06-11 19:28:06 +10:00
RomanBapst 0f49eb34a0 fixed method which calculates validity of terrain estimate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-05-28 19:43:13 +10:00
Robert de Vries 340d85afc1 EKF: fix variable names in estimator_interface.h 
This fixes issue #566
 2019-05-27 17:39:42 -04:00
Beat Küng 54ac147ae8 Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time 
This does not change the default of 10 seconds.
 2019-05-15 09:00:24 +01:00
Roman 770cd3c5cc added python script for terrain flow derivation (optical flow for terrain 
height estimation)

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman c085d7295d addressed review comments 2019-05-15 17:16:36 +10:00
Roman 8673ab0346 terrain estimator: constrain terrain state properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman fbb51147b7 implemented use of optical flow for terrain estimation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Mohammed Kabir 3f691891c4 EKF: control: stop vision yaw fusion on timeout 2019-04-22 12:56:24 +10:00
Martina c4492b17c1 do not reset yaw if vehicle on ground 2019-04-09 20:50:37 +10:00
Paul Riseborough f97f0b6ea3 EKF: Remove unnecessary code 
_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
 2019-04-08 06:57:17 +10:00
Paul Riseborough 43b5e26fe4 EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2 2019-04-08 06:57:17 +10:00
Roman f95cd4b358 ground effect: removed dependency on local position 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-03-19 13:14:57 +11:00
CarlOlsson 7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00
CarlOlsson 32ca6f7030 ekf: scale wind process noise with low pass filtered height rate 2019-03-19 13:10:12 +11:00
CarlOlsson 938c8ad9ad EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff 2019-03-19 13:04:54 +11:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Paul Riseborough fabd216ca5 EKF: Documentation edits 2019-03-13 08:14:23 +11:00
CarlOlsson 8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson 000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 2019-03-12 19:07:55 +11:00
CarlOlsson 96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 56b6b7a778 EKF: cleanup use of _mag_filt_state 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Nuno Marques 4e0e68e905 Ekf: add more useful methods to interface with the covariances (#543) 2019-03-09 11:57:35 -05:00
Daniel Agar c66f7f4a09 EKF drop unused timestamp from collect_gps() and pass data by const reference 2019-03-05 17:26:19 -05:00
Freek van Tienen 78b899c72d Add Paparazzi compatibility (#580) 
This adds support for the paparazzi autopilot to use this library as EKF.
The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
 2019-03-05 12:41:21 -05:00
Daniel Agar 1378ec1797 EKF mag_fusion avoid unnecessary double promotion 2019-02-08 08:24:24 -05:00
Carl Olsson 54ab8191e3 EKF: add method to get the terrain variance 2019-02-06 08:49:16 -05:00
Daniel Agar c5554cae96 EKF tests update SWIG usage and use latest containers 2019-02-03 18:27:00 -05:00
Paul Riseborough dd58e69549 EKF: Ensure FW yaw alignment method is used on first in-air reset 2019-01-31 09:53:57 -05:00
Paul Riseborough 3accab1ac5 EKF: protect declination fusion from badly conditioned earth field estimates 
Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.

EKF: Move declination state limiting into a separate function

EKF: Limit NE mag states after each 3-axis mag fusion

EKF: Fix bug in mag field strength look-up scale factor
 2019-01-31 09:53:57 -05:00
Paul Riseborough 7bddbd1cc5 EKF: Update cleaned up autocode fragment with sign error fix and missing LD 2019-01-31 09:53:57 -05:00
Paul Riseborough fe378fd761 EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion 2019-01-31 09:53:57 -05:00
Paul Riseborough bd1647a7fb EKF: Rework use of fuseDeclination() 
Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
 2019-01-31 09:53:57 -05:00
Paul Riseborough d52f53635b EKF: Save mag field covariance data before reset 2019-01-31 09:53:57 -05:00
Paul Riseborough 82ce7a83a5 EKF: Save mag field covariance information on startup 2019-01-31 09:53:57 -05:00