kamilritz
122f58b94d
Bug: stop overwriting fault status of index 0 with index 1
2020-07-02 15:55:24 +02:00
kamilritz
9e211d6ca1
Stop overwriting fault status with false if one component is true
2020-07-02 15:55:24 +02:00
kamilritz
e5ddd912a4
Remove not needed else case
2020-07-02 15:55:24 +02:00
kamilritz
430497e2f7
Shift variable definition inside calculateOutputStates
2020-07-02 15:55:24 +02:00
kamilritz
f59343b343
Remove misplaced comment
2020-07-02 15:55:24 +02:00
kamilritz
673b309c45
Fix bug: pos gain used instead of vel gain
2020-07-02 15:55:24 +02:00
kamilritz
2af2696b63
Revert if-else condition to get rid of unnecessary indentation
2020-07-02 15:55:24 +02:00
kamilritz
fce4958d4f
Random cleanup
2020-07-02 15:55:24 +02:00
kritz
9eea44f4ab
Return type of resets ( #859 )
...
* Reset position/velocity return type is void
* Delete not needed comments
2020-07-02 14:53:59 +02:00
bresch
97e54df123
Gps control: add missing consts and reduce variable scope
2020-07-02 13:35:13 +02:00
bresch
b0f79caf34
GPS yaw: Extract and refactor GPS yaw control logic
...
- Rename GPS yaw fusion functions:
resetGpsAntYaw -> resetYawToGps
fuseGpsAntYaw -> fuseGpsYaw
- Move last fusion time in reset function
2020-07-02 13:35:13 +02:00
bresch
7f4fedde6a
GPS Yaw: fix heading initialisation and add unit tests
...
When the antennas are not parallel to the x body axis, the GPS message
contains the angular offset but the data is already corrected in the
driver. EKF2 should then not add this offset during the initialisation.
2020-07-02 13:35:13 +02:00
kamilritz
97225fcb74
Use matrix lib inside getState
2020-07-02 09:02:24 +02:00
kamilritz
16a00eae0b
Make Kfusion a Vector24f
2020-07-02 09:02:24 +02:00
kamilritz
356b2f6ffe
Stop setting zero to zero
2020-07-02 09:02:24 +02:00
kamilritz
552bf824ea
Add typedef for Matrix 24 types
2020-07-02 09:02:24 +02:00
kamilritz
5356077a32
Make flow_innov/-var a matrix Vector2f
2020-06-26 08:26:26 +02:00
kamilritz
c2801eb488
Add const modifier and increase matrix library usage
2020-06-26 08:26:26 +02:00
kamilritz
d9afc2f1e8
Remove repeated division by same value
2020-06-26 08:26:26 +02:00
kamilritz
d16b43a2da
Get rid of non functional piece of code
2020-06-26 08:26:26 +02:00
kamilritz
c3653e68ca
Add const modifier
2020-06-26 08:26:26 +02:00
kamilritz
48f0eb16da
Remove uninformative comments
2020-06-26 08:26:26 +02:00
kamilritz
4a69b41015
Increase matrix library usage even more
2020-06-26 08:26:26 +02:00
kamilritz
630be60930
Increase matrix library usage
2020-06-26 08:26:26 +02:00
kamilritz
22274b1d30
Add const modifier
2020-06-26 08:26:26 +02:00
kamilritz
61c139ea95
Remove unused variable
2020-06-26 08:26:26 +02:00
kamilritz
afd4f3f86b
Fix typo
2020-06-26 08:26:26 +02:00
kamilritz
a3706fdcef
Make relative wind computation more compact
2020-06-26 08:26:26 +02:00
kamilritz
b8f937666a
Make mag_innov/-var a Matrix::Vector3f
2020-06-26 08:26:26 +02:00
Kamil Ritz
0ea7cd8360
Attempt to fix CI firmware build test
2020-06-26 07:38:25 +02:00
Daniel Agar
2927132954
clang-format set BreakBeforeBraces to Linux style
...
- this keeps things consistent with PX4/Firmware astyle
2020-06-25 13:23:52 -04:00
sevenbill
b96c62ed8b
Optionalized build dependency on git
...
Signed-off-by: Bill Morris <bill@sevendof.com>
2020-06-25 08:56:26 -04:00
Bill Morris
794e6ec3a5
Enforce tabs via editorcofig
2020-06-25 08:55:21 -04:00
PX4 BuildBot
e4b44f704b
Update geo_lookup WMM to latest Tue Jun 23 14:15:04 UTC 2020
2020-06-23 10:41:59 -04:00
bresch
4b746a3fca
GPS Yaw: add consts and remove fusion starting message
...
The fusion status is captured in the status flags; the message is
superfluous, uses flash space and can impact real-time performance
2020-06-23 08:43:48 +02:00
bresch
2bafe9df08
GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
...
This fixes the cases where the yaw message from the GNSS receiver would
take more time than the vel/pos. The estimator should wait and not
immediately fall back to an other aiding source after 5sec.
If it never comes, it will never fall back, but this is ok since the
user wants to fly with GPS aiding an not with something else.
2020-06-23 08:43:48 +02:00
bresch
51cd63d626
GPS Yaw: fall back to other yaw aiding source in case of bad data
...
If the user selects GPS yaw fusion but that there is no GPS yaw data in
the GPS message or if the fusion is rejected for some time, the GPS yaw
data is declared faulty and the fusion is stopped to allow an other
source of yaw aiding to start.
2020-06-23 08:43:48 +02:00
bresch
fe2a9d3018
GPS Yaw: move isfinite checks in control.cpp
2020-06-23 08:43:48 +02:00
bresch
3c6790f5d5
GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
...
Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
2020-06-23 08:43:48 +02:00
kamilritz
ff8b5ec69d
Extract general functions into utils
2020-06-23 08:18:34 +02:00
Daniel Agar
fda30d8cec
geo_lookup: expand latitude to +-80 degrees
2020-06-22 09:45:22 -04:00
Daniel Agar
109eca5200
geo_lookup: create simple python script to update tables
2020-06-22 09:45:22 -04:00
Daniel Agar
41b9e4f628
geo_lookup: move tables to separate file
2020-06-22 09:45:22 -04:00
Daniel Agar
a8bb8ea99f
move TECS, L1, and validation to PX4/Firmware
2020-06-18 18:48:36 -04:00
Matthias Grob
a296fe7d8c
Move AlphaFilter out of EKF
2020-06-15 13:07:51 -04:00
Matthias Grob
daec5ae608
AlphaFilter: replace isfinite with positive denominator check
2020-06-15 13:07:51 -04:00
Kamil Ritz
e835bc34c4
remove inline modifier
2020-06-12 15:11:16 +02:00
Kamil Ritz
74780aa512
Refactor gps fusion commencing
2020-06-12 15:11:16 +02:00
Matthias Grob
38cbd1a182
AlphaFilter: prevent setParameters division by zero
2020-06-09 16:32:24 -04:00
RomanBapst
b7d54b5477
gps: fixed filter initialization bug around gps
...
- do not gps reference altitude to zero in case gps checks pass before the
filter initialized
- reset the filtered gps position and position derivative filters in case
we are in air or there is movement on the ground
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2020-06-08 16:19:38 +02:00
