Paul Riseborough
49023f3d7e
EKF: fix travis build error
2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
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This prevents the possibility of output transients if alignment is delayed.
2016-03-13 21:17:51 +11:00
Paul Riseborough
d2407c3463
EKF: code style updates
2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42
EKF: Enable use of range finder for primary height source
2016-03-13 18:44:34 +11:00
Paul Riseborough
109e0e6dfc
EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
2016-03-11 11:03:43 +11:00
Paul Riseborough
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
2016-03-11 11:03:43 +11:00
Paul Riseborough
48f980b054
EKF: Fix syntax causing posix build to fail
2016-03-11 11:03:43 +11:00
Paul Riseborough
eab0ef4266
EKF: Update default process noise for terrain estimator
2016-03-11 11:03:43 +11:00
Paul Riseborough
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
2016-03-11 11:03:43 +11:00
Paul Riseborough
1a2da887ab
EKF: Fix bug in calculation of terrain estimator Kalman gain
2016-03-11 11:03:43 +11:00
Paul Riseborough
cc5512905a
EKF: prevent optical flow, GPS and baro fusion from blocking each other
2016-03-11 11:03:43 +11:00
Paul Riseborough
ffebaf384f
EKF: Set initial optical flow fusion monitor outputs to zero
2016-03-11 11:03:43 +11:00
Paul Riseborough
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
2016-03-11 11:03:43 +11:00
Paul Riseborough
dd1d58bab5
EKF: Remove unnecessary matrix operations from optical flow fusion
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The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
2016-03-11 11:03:43 +11:00
Paul Riseborough
b3b0f1347a
EKF: Make normal GPS mode the default
2016-03-11 11:03:43 +11:00
Paul Riseborough
d97d308ca7
EKF: Add control of optical flow and range finder fusion
2016-03-11 11:03:43 +11:00
Paul Riseborough
836fe39070
EKF: Update external interface functions to support optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough
2ff338048d
EKF: Add support for range-finder fusion as primary height reference
2016-03-11 11:03:43 +11:00
Paul Riseborough
2c2850c0ce
EKF: Add functions to get position and velocity state variance
2016-03-11 11:03:43 +11:00
Paul Riseborough
32b03819ef
EKF: Add function to calculate global position validity
2016-03-11 11:03:43 +11:00
Paul Riseborough
270451e17b
EKF: Update height reset to support range finder height use
2016-03-11 11:03:43 +11:00
Paul Riseborough
dca186c6e8
EKF: Add required declarations for optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough
122dd9c531
EKF: Add source file for optical flow LOS rate fusion
2016-03-11 11:03:43 +11:00
Paul Riseborough
82cbfafb34
EKF: Add source file for terrain vertical position estimator
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Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
2016-03-11 11:03:43 +11:00
mcsauder
6a61f9ba77
Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications.
2016-03-05 02:17:55 -07:00
mcsauder
115c87a0ea
Remove an include that was unnecessary.
2016-03-05 02:15:04 -07:00
mcsauder
1aee1b895a
Uncomment commented lines that removed Eigen namespaces and dependencies.
2016-03-05 02:12:26 -07:00
mcsauder
f9be23933b
Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4.
2016-03-05 01:58:58 -07:00
Paul Riseborough
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
2016-03-05 08:58:19 +11:00
Paul Riseborough
1414d591ce
EKF: Fix bug in declination fusion indexing
2016-03-05 08:43:33 +11:00
Roman Bapst
b2744f965d
use in_air flag from land detector to determine if we are on the ground
2016-03-03 10:53:39 +01:00
Paul Riseborough
569886a4fc
EKF: Fix bug in velocity and position innovation consistency checks
2016-03-03 17:15:22 +11:00
mcsauder
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
2016-03-02 08:42:38 +01:00
Paul Riseborough
d8627c6aaf
EKF: Reset the vertical position states if height fusion times out
2016-03-02 08:39:07 +01:00
Paul Riseborough
f7a53d69f2
EKF: Improve height reset function
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Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
2016-03-02 08:39:07 +01:00
Paul Riseborough
a6da73fa83
EKF: Add missing div0 protection
2016-03-01 18:03:35 +11:00
Paul Riseborough
d5e47d21db
EKF: miscellaneous comment and format changes
2016-03-01 15:35:45 +11:00
Paul Riseborough
7c83ac4b6d
EKF: Use heading fusion as default for startup and ground operation
2016-03-01 15:35:17 +11:00
Paul Riseborough
57d4064d7b
EKF: Increase default heading observation noise
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Improves robustness when operating in a bad magnetic field environment
2016-03-01 15:28:53 +11:00
Paul Riseborough
97df006a6a
EKF: Update direct heading fusion
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Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
2016-03-01 15:25:22 +11:00
Paul Riseborough
2c9a814de1
Merge pull request #64 from mcsauder/master
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Additional filter variable initializations required to fully reset the filter variables
2016-02-26 23:06:56 +11:00
Paul Riseborough
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +11:00
mcsauder
5fb48a2e7b
Merge remote-tracking branch 'upstream/master'
2016-02-25 22:51:58 -07:00
mcsauder
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
2016-02-25 22:51:14 -07:00
Roman Bapst
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
Paul Riseborough
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
Paul Riseborough
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
2016-02-25 10:16:32 +11:00
Paul Riseborough
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
Paul Riseborough