Paul Riseborough
78e983073a
EKF: Fix bug in use of gps velocity noise parameter ( #401 )
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This fixes a bug introduced by an earlier feature request PR. The parameter is supposed to define the lower limit on the observation noise.
2018-02-28 11:48:53 +11:00
Paul Riseborough
a2d6a4dded
EKF: fix indexing bug ( #387 )
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Should use index 9 for vertical position.
2018-01-29 08:09:55 +11:00
ChristophTobler
cdbca91e79
EV height reset ( #379 )
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* fix typo
* EKF: use baro if it was reset to baro from ev
* EKF: set vert_pos_reset if resetting to ev hgt
otherwise the position controller will not reset the setpoint -> leading to unwanted altitude changes
2018-01-15 20:15:56 +11:00
Paul Riseborough
83b765f707
EKF: Don't print navigation lost message on startup
2017-12-03 23:02:02 +00:00
Paul Riseborough
89be63d6c2
EKF: Fix vel pos innovation logging bug
2017-11-24 14:25:44 +11:00
Paul Riseborough
b0ad8269a5
EKF: enable separate monitoring of aux velocity innovations
2017-11-21 11:18:09 +11:00
Paul Riseborough
2a57fd858d
EKF: clean up reset of fusion flags
2017-11-21 11:18:09 +11:00
Paul Riseborough
8e30c2666d
EKF: Add support auxiliary velocity observation
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This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
2017-11-21 11:18:09 +11:00
Paul Riseborough
a2b24fa960
EKF: Protect against ground effect induced static pressure rise during landing and takeoff.
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Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
2017-11-17 21:41:31 +11:00
Paul Riseborough
7c8fcf7628
EKF: Clarify use of *= operator for quaternions
2017-11-16 11:52:19 +11:00
Daniel Agar
ed9a394029
EKF RingBuffer avoid copying
2017-11-15 18:08:51 -05:00
Paul Riseborough
2b20c52c4d
EKF: Remove redundant code
2017-11-15 22:03:17 +11:00
Paul Riseborough
72a7ab2c25
EKF: Improve resistance to bad initial mag offset
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When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
2017-11-13 07:05:56 +11:00
Paul Riseborough
c70363c501
EKF: Don't fuse heading if FW and waiting for mag states to stabilise
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Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
2017-11-13 07:05:56 +11:00
Paul Riseborough
f3e34eddc9
EKF: do not attempt to align FW yaw using GPS method if on ground
2017-11-13 07:05:56 +11:00
Paul Riseborough
29d383edbf
EKF: Allow mag field estimates to stabilise before use
2017-11-13 06:55:02 +11:00
Paul Riseborough
363edf5eb9
EKF: Fix yaw reset for fixed wing
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Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
2017-11-13 06:55:02 +11:00
Paul Riseborough
7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat
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EKF: Enable operation with arbitrary External Vision reference frame
2017-11-12 08:35:39 +11:00
Paul Riseborough
5fd006ca48
EKF: remove redundant code
2017-11-11 07:06:01 +11:00
ChristophTobler
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
2017-11-08 11:40:26 +01:00
Paul Riseborough
01d68ef67c
EKF: Enable use of rotated external nav estimates
2017-11-01 08:33:57 +11:00
Paul Riseborough
59f1c3e19e
EKF: Update dead-reckoning definition
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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
2017-10-20 14:44:37 +11:00
Paul Riseborough
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
2017-10-20 14:44:37 +11:00
Paul Riseborough
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
2017-10-20 14:44:37 +11:00
Paul Riseborough
204a218ee6
EKF: Allow dead-reckoning using air data
2017-10-20 14:22:06 +11:00
ChristophTobler
f5fd90533a
fix gps and flow flag handling
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gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
2017-10-20 14:22:06 +11:00
CarlOlsson
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-17 15:08:09 +02:00
Paul Riseborough
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
2017-10-12 14:50:23 +11:00
Paul Riseborough
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
2017-10-12 14:50:23 +11:00
Paul Riseborough
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
2017-10-12 08:02:54 +11:00
ChristophTobler
b7e589b98a
EKF: only fuse optical flow if terrain is valid
2017-10-10 17:51:56 +02:00
CarlOlsson
0a7c3ecbc6
EKF: Parameterize maximum angle for rng fusion
2017-09-26 20:53:48 +02:00
Paul Riseborough
160e4d69c1
Merge pull request #323 from PX4/pr-ekfQuatMultOrder
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EKF: use hamiltonian convention for quaternion multiplication order
2017-09-21 07:49:35 +10:00
Paul Riseborough
1d3e8edc46
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation
2017-09-14 18:34:11 +10:00
Paul Riseborough
dd5b8525c3
EKF: Use hamiltonian convention for quaternion product order
2017-08-31 11:14:02 +02:00
Daniel Agar
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
ChristophTobler
89236ef275
Merge pull request #314 from PX4/pr-check_stuck_rng
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Pr check stuck rng
2017-08-21 07:54:06 +02:00
ChristophTobler
7252284628
Add check for stuck range finder measurements
2017-07-31 17:59:16 +02:00
Paul Riseborough
ce806768b7
EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing
2017-07-31 19:39:07 +10:00
Paul Riseborough
e08da1c599
EKF: Add ability to use EV and GPS data together
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Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
2017-07-26 18:06:18 +10:00
Paul Riseborough
e1fe5b2229
Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""
2017-07-19 17:52:35 +10:00
Paul Riseborough
c887b02f21
Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:33:48 +10:00
ChristophTobler
e429ecab17
check if terrain valid instead of initialized
2017-07-17 16:43:23 +02:00
ChristophTobler
517fe8a71f
rng aid: use hysteresis with lower hagl check
2017-07-17 13:36:51 +02:00
ChristophTobler
8ed61ac052
init rng offset with ground clearance param when on ground to avoid noisy init
2017-07-13 17:43:19 +02:00
Paul Riseborough
9ee35e38df
EKF: Don't fallback when optical flow is lost if external vision data is being used
2017-07-13 20:21:41 +09:00
Paul Riseborough
1bb576c197
EKF: Allow fallback to non-aiding mode if external vision is lost.
2017-07-13 20:21:41 +09:00
Isaac
f96685267e
Fixed vision position fusion bug
2017-07-10 13:44:51 +10:00
Paul Riseborough
ec2b54fde7
EKF: Ensure normal yaw alignment using mag is performed if GPS method is not
2017-07-08 11:13:40 +02:00
Paul Riseborough
d446f66105
EKF: Add a fixed wing mode with setter function
2017-07-08 11:13:40 +02:00
