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Author SHA1 Message Date
Roman
36bffd2571 ekf: calculate the delta time between consecutive baro measurments 
(used for calculating filtered baro offset when primary height source
is not baro)

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
a0ab5cf0d7 ekf vel_pos_fusion: added height sensor offset to range innovation calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Roman
a1e67396f4 ekf: added methods for setting control height flags 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Paul Riseborough
d6decb3c84 Merge pull request #277 from PX4/pr-ekfBufferParam 
EKF: Add a parameter to enable setting of a minimum buffer length
 2017-06-15 07:34:21 +10:00
Paul Riseborough
c48b879843 Merge pull request #276 from CarlOlsson/feature/only_update_mag_states 
EKF: Add feature to use the mag to only update the mag states
 2017-06-14 11:04:14 +10:00
CarlOlsson
b255d4a53a fixed typos 2017-06-12 18:13:22 +02:00
Paul Riseborough
97eb17a62f Merge pull request #265 from PX4/pr-ekfOutputObserver 
EKF: add option to output velocity as time derivative of position
 2017-06-12 19:01:54 +10:00
Paul Riseborough
fed4a9bc5a EKF: add vertical position derivative output 
Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode.
Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor.
Provide separate accessor for vertical position derivative.
 2017-06-12 10:45:46 +10:00
Paul Riseborough
16c7041f4a EKF: Add a parameter to enable setting of a minimum buffer length to handle large sensor timing jitter 2017-06-12 09:33:34 +10:00
Paul Riseborough
a17879ab91 matlab: miscellaneous EKF replay script file improvements 
Save APM and PX4 data into separate directories and level plots accordingly
 2017-06-10 13:29:20 +10:00
Paul Riseborough
3a7a66d360 matlab: improve EKF simulation fusion control 
Add ability to start before GPS checks pass.
Add ability to turn GPS fusion off and on during replay.
Add ability to turn Optical Flow fusion off and on during replay.
Add ability to turn Visual Odometry fusion off and on during replay.
Convert miscellaneous constants to parameters
 2017-06-10 13:02:42 +10:00
Paul Riseborough
dabf129daf matlab: Update EKF replay script files 
Add automatic save of output results
 2017-06-05 20:53:16 +10:00
Julien Lecoeur
d0b4f1e225 Use binary operator~ instead of logical operator! 2017-06-05 01:07:52 +08:00
Julien Lecoeur
c323b64742 Fix -Werror=int-in-bool-context on GCC 7 2017-06-05 01:07:52 +08:00
Daniel Agar
3e197fdded EKF tests remove extra semicolon 2017-06-05 01:06:41 +08:00
Daniel Agar
e7ed32fb82 attitude_fw remove extra semicolons 2017-06-05 01:06:41 +08:00
Daniel Agar
6ed8512ff4 EKF parameters use int32_t (#279) 2017-06-03 17:16:29 -04:00
Paul Riseborough
8351e13c70 Matlab: update readme file and provide link to sample data set 2017-06-03 13:22:08 +10:00
Paul Riseborough
9f61622044 Matlab: Improve efficiency of odometry derivation 2017-06-03 12:39:24 +10:00
Paul Riseborough
510b8763ea Matlab: Add basic implementation of EKF to support development testing 2017-06-03 12:39:24 +10:00
CarlOlsson
871ebb251b EKF: Changed get_control_mode to coyp 32 bits 2017-06-01 11:02:56 +02:00
CarlOlsson
a1308482fd EKF: Reset the mag states to the field state variance when switching from the inhibit mag mode to standard mode 2017-05-31 10:18:40 +02:00
CarlOlsson
be16406b35 EKF: Add feature to use the mag to only update the mag states 2017-05-26 11:29:21 +02:00
Paul Riseborough
05c3c46f83 ekf2: changes arising from code review 2017-05-17 08:59:01 +02:00
Paul Riseborough
394dd95cba EKF: Don't do magnetic field estimation without earth frame measurements 
Use horizontal acceleration to check if yaw is observable independent of the magnetometer.
Use rotation about the vertical to check if mag raises are observable.
If neither yaw of mag biases are observable, save the magnetic field variances and switch to magnetic yaw fusion.
Use the last learned declination when using magnetic yaw fusion so that the yaw reference remains consistent.
When yaw or biases become observable, reinstate the saved variances and switch back to 3D mag fusion.
 2017-05-17 08:59:01 +02:00
Paul Riseborough
20db74eca8 Revert "EKF: Add parameter control of individual IMU axis delta velocity bias estimation" 
This reverts commit 9c31632e2bd8c53843dfc9dc419256607578350e.
 2017-05-15 16:38:17 +10:00
ChristophTobler
47973a4820 run terrain estimator after control fusion modes. Otherwise _range_data_ready will never be true and fuseHagl() will never run 2017-05-15 07:42:51 +02:00
Paul Riseborough
9c31632e2b EKF: Add parameter control of individual IMU axis delta velocity bias estimation 
Add a bitmask parameter to control bias learning for individual axes. This is achieved by setting the disabled states to zero together with their corresponding covariances.
Minor cleanup of the covariance prediction comments.
Removal of unnecessary variable copy operations.
Replace index operations to initialise covariance to zero with the more efficient memset.
 2017-05-11 07:51:37 +02:00
Daniel Agar
87fdee440b EKF estimator_interface coverity fix 139419 2017-04-29 11:48:15 +02:00
Daniel Agar
b3f8fd19e0 EKF estimator_interface coverity fix 140490, 140491 2017-04-29 11:48:15 +02:00
Paul Riseborough
5ee0ed5a0d EKF: Increase sensitivity and add tuning of bad accel checks 2017-04-29 11:47:38 +02:00
Paul Riseborough
e35921534d EKF: fix reporting of optical flow fusion errors 2017-04-29 11:46:39 +02:00
Paul Riseborough
5112ffca90 EKF: Adjust default time delay params and clean up formatting 2017-04-27 07:34:42 +02:00
Paul Riseborough
8a2c5c1ad2 Merge pull request #266 from dagar/valgrind 
ekf2 initialization fixes
 2017-04-25 17:38:17 +10:00
Daniel Agar
3919d60f66
ekf2 initialization fixes 2017-04-24 18:56:50 -04:00
Paul Riseborough
c62bdcbdb2 Merge pull request #264 from PX4/pr-ekfBuildErrorFix 
EKF: remove clang build error message
 2017-04-18 19:29:16 +10:00
Paul Riseborough
c3f966f53e EKF: remove clang build error message 2017-04-18 19:22:59 +10:00
Paul Riseborough
d47c372872 Merge pull request #263 from PX4/pr-ekfBuildErrorFix 
EKF: Fix travis clang build error
 2017-04-18 17:12:51 +10:00
Paul Riseborough
1e393530ed EKF: Fix travis clang build error 2017-04-18 17:06:31 +10:00
Paul Riseborough
c607941e2f EKF: Allow external setting of air density for multi-rotor drag fusion 2017-04-16 13:07:12 +02:00
Paul Riseborough
3758c5a09d EKF: down-sample drag specific force data 2017-04-16 13:07:12 +02:00
Paul Riseborough
9f48c0505b EKF: improve covariance stability when estimating wind 2017-04-16 13:07:12 +02:00
Paul Riseborough
5cf31e439d EKF: Add specific drag fusion tuning parameters 2017-04-16 13:07:12 +02:00
Paul Riseborough
465b145929 EKF: Add multi-rotor drag model for wind estimation 2017-04-16 13:07:12 +02:00
Paul Riseborough
b07acd8cf3 Merge pull request #254 from PX4/pr-ekfAccelErrorHandling 
EKF: improve recovery from bad IMU accel data
 2017-04-12 21:39:14 +10:00
Paul Riseborough
0d7e7e9d81 EKF: Don't use EKF origin in GPS drift check calculation 
The GPS drift calculations need to be able to run independently of the EKF origin.
 2017-04-12 13:11:34 +02:00
Paul Riseborough
7b996c5972 EKF: Increase measurement error allowance for accelerometer clipping 2017-04-07 16:37:27 +10:00
Paul Riseborough
f0bbbc8dc6 EKF: Add reporting of bad accel status 2017-04-07 08:47:13 +10:00
Paul Riseborough
2f2ac5be43 EKF: Improve protection against severe IMU accel errors 
Use vertical velocity and position innovation failure to detect bad accelerometer data caused by clipping or aliasing which can cause large vertical acceleration errors and loss of height estimation. When bad accel data is detected:

1) Inhibit accelerometer bias learning
2) Force fusion of vertical velocity and height data
3) Increase accelerometer process noise
 2017-04-07 08:47:13 +10:00
Paul Riseborough
a1a5734443 Merge pull request #259 from PX4/pr-ekfBugFix 
EKF: Protect against covariance prediction and update errors
 2017-04-06 16:30:07 +10:00