040639837e
EKF: Use common timeout test for reporting deadreckoning
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Use a parameter to set the time-out threshold
Use a class variable for the time-out flag
Clean up comments
2017-03-15 07:57:38 +01:00
6ac7e2f807
EKF: report conservative position errors when failing innovation checks
2017-03-15 07:57:38 +01:00
21e7734149
EKF: fix compile error
2017-03-14 13:00:54 +01:00
f7cae7f3ab
EKF: improve compatibility with ARM cross compiler
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This change removes the following compiler error when building using the ARM cross compiler.
/Users/paul/src/Firmware/src/lib/ecl/EKF/ekf_helper.cpp:45:12: error: 'std::abs' has not been declared
using std::abs;
2017-03-12 22:55:23 +01:00
cf31945038
EKF: Fix use of incorrect timestamp
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This was incorrectly using the IMU (1/250 sec) timestamp instead of the EKF (1/100 sec) value.
The corresponding accelerometer limit has been made a parameter and adjusted to match previous behaviour.
2017-03-10 10:14:06 +01:00
e4a4427991
Revert "EKF: fix compile error"
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This reverts commit 6db552717d
2017-03-10 07:38:02 +11:00
6db552717d
EKF: fix compile error
2017-03-07 21:13:45 +11:00
eb4f5ecbb9
cmake add all EKF sources ( #243 )
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- trivial cmake cleanup
- travis-ci build with both gcc and clang
- update matrix to latest (matches PX4)
- closes #240
2017-02-27 00:46:48 -05:00
0d77470efc
EKF: Use conservative reporting of velocity errors when aiding is lost
2017-02-25 21:17:01 +01:00
8070691aa4
EKF: Add accessor function for velocity accuracy
2017-02-25 21:17:01 +01:00
d6abf3f2e4
EKF: add accessor function for local position accuracy
2017-02-25 21:17:01 +01:00
b7d0b3c4d0
EKF: Improve naming of WGS-84 accuracy accessor function
2017-02-25 21:17:01 +01:00
d22599b440
EKF: Add reporting of inertial dead-reckoning status
2017-02-25 21:17:01 +01:00
2750961be6
c++11 initialization cleanup ( #237 )
2017-02-05 13:05:10 -05:00
47b8ef258b
clang-tidy performance-type-promotion-in-math-fn ( #236 )
2017-02-02 00:17:08 -05:00
d668a2d798
clang-tidy performance-unnecessary-value-param
2017-01-14 16:26:25 -08:00
934890c2df
EKF: Add validity flag to ekf origin reporting
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Flag is false until the origin has been initialised
2016-12-28 00:56:09 +01:00
c8e3c24150
adopted ekf_helper.cpp
2016-11-05 12:19:01 +01:00
b10b0184c5
EKF: Add IMU vibration calculation and reporting
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Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
2016-10-19 21:46:55 +11:00
17c195d1cd
ekf2 height reset: do not apply height change to height state twice (bug)
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-10-18 07:58:19 +02:00
f80b3481a4
reset the newest output sample for all possible resets
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-10-12 08:54:38 +02:00
238d947239
proper handling of position and velocity reset
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- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution
Signed-off-by: Roman <bapstroman@gmail.com >
2016-10-12 08:54:38 +02:00
352750e5d1
EKF: publish ekf solution status summary data
2016-10-06 09:02:29 +02:00
007e73379f
EKF: Improve reporting of position error
2016-10-06 09:02:29 +02:00
744b79c1b2
EKF: Publish innovation test ratios
2016-10-06 09:02:29 +02:00
65762e5998
EKF: publish output predictor tracking errors
2016-10-03 14:13:07 +11:00
616aeb9ad7
ekf_helper: fix forgotten return value
2016-09-27 16:36:29 +02:00
73b8ac954d
ekf_helper.cpp: remove unused includes
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This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
2016-07-15 12:50:11 +02:00
f5e9ea1626
EKF: Prevent potential divide by zero
2016-06-30 17:06:32 +10:00
7bc9217f00
EKF: Clean up control of observation fusion
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All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
2016-06-30 17:06:32 +10:00
bec1a6831e
added method to get gyro bias
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Signed-off-by: Roman Bapst <roman@px4.io >
2016-06-21 14:13:47 +02:00
703fb4e31b
do not return early in velocity reset method otherwise
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some code will not be executed
2016-06-08 07:51:18 +02:00
f26aca55a1
EKF: Fix bug in quaternion covariance initialisation function
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The covariances between quaternion and non-quaternion states were not being updated
2016-06-08 13:23:30 +10:00
6a55d908c5
EKF: replace reset event times with event counters
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Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
2016-06-01 17:13:00 +10:00
9ec09f5f4e
EKF: update output observer and capture reset event for magnetic heading resets
2016-06-01 17:13:00 +10:00
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
2016-06-01 17:13:00 +10:00
0605c88ecc
EKF: capture horizontal position reset events
2016-06-01 17:13:00 +10:00
e3a1b4a3b3
EKF: capture velocity reset events
2016-06-01 17:13:00 +10:00
79705da7e6
EKF: make output predictor states consistent with position reset
2016-06-01 17:13:00 +10:00
54d90261d5
EKF: make output predictor states consistent with velocity reset
2016-06-01 17:13:00 +10:00
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
2016-05-27 14:00:50 +10:00
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
ae5071f668
EKF: Improve heading reset
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Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
2016-05-21 19:30:15 +10:00
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
2016-05-18 19:25:19 +10:00
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
2016-05-18 12:16:16 +10:00
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
2016-05-17 12:47:20 +10:00
1540e937b1
EKF: Improve tilt alignment monitoring
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
2016-05-17 11:17:24 +10:00
81469d6621
EKF: Add position, height and velocity reset for EV aiding
2016-05-14 21:17:29 +10:00
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
2016-05-08 10:30:40 +10:00
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
Paul Riseborough