ee94980a8f
EKF: Clean up wind state activation logic
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Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
2020-12-08 18:03:04 -05:00
a21092804a
EKF: remove virtual getters from estimator_interface
2020-11-02 09:35:47 -05:00
48a8992caf
EKF: move small simple getters to header
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- return by const reference where possible
2020-10-30 09:48:45 -04:00
fdc86c247a
add functions to compute yaw (321 and 312 sequence)
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from quaternion and rotation matrix
2020-08-27 09:51:56 +10:00
1f637af7de
Add const modifier
2020-08-24 19:24:27 +10:00
644e903552
Apply measurementUpdate function
2020-08-24 18:04:57 +10:00
06aa78a291
EKF: Only record airspeed fusion event when states are updated
2020-08-16 08:45:26 +10:00
ede6204f85
EKF: airspeed fusion cleanup
2020-08-16 08:45:26 +10:00
a5a43dbc6c
EKF: Convert airspeed fusion to use SymPy generated auto-code
2020-08-16 08:45:26 +10:00
89bfcc2167
Introduce checkAndFixCovarianceUpdate(KHP) function
2020-07-16 18:25:06 +02:00
5c4a3d4576
Make observation jacobian a Vector24f when possible
2020-07-16 18:25:06 +02:00
b5765eb3b4
Move variable declaration to better place &
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remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
2020-07-16 18:25:06 +02:00
05855b7fc1
Update time of last fusion event really only if fused
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Except for the velpos fusion
2020-07-16 18:25:06 +02:00
16a00eae0b
Make Kfusion a Vector24f
2020-07-02 09:02:24 +02:00
356b2f6ffe
Stop setting zero to zero
2020-07-02 09:02:24 +02:00
552bf824ea
Add typedef for Matrix 24 types
2020-07-02 09:02:24 +02:00
48f0eb16da
Remove uninformative comments
2020-06-26 08:26:26 +02:00
4a69b41015
Increase matrix library usage even more
2020-06-26 08:26:26 +02:00
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
2020-05-13 08:09:26 +02:00
2fa43419d2
Interface: output vector quantities by "return-by-value"
2020-03-30 13:07:00 +02:00
9e6d27fafb
Add missing const qualifier
2020-01-08 09:00:31 +01:00
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
2020-01-02 19:26:57 +11:00
92ba618f57
Improve on flash memory usage
2020-01-02 19:26:57 +11:00
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
2020-01-02 19:26:57 +11:00
1bf09fd370
Remove EKF prefix from logged messages
2019-12-12 08:48:10 +01:00
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
2019-09-25 11:24:42 +02:00
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-18 10:20:33 -04:00
c5b2f59f57
PX4 style fixes (excluding EKF generated code)
2018-05-03 22:25:36 -04:00
ae069b12d6
EKF: Fix bug preventing wind relative dead reckoning
2018-04-21 13:04:04 -04:00
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
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
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
2017-10-20 14:44:37 +11:00
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
8200e4b218
EKF: added get_wind_velocity_var function
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-10-02 14:47:56 +02:00
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
cc5db74d1b
EKF: Add true airspeed accessor
2017-08-07 09:19:48 +10:00
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
951c8b77af
EKF: Improve wind state reset logic
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Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
2016-11-05 12:19:01 +01:00
07c6aabd98
EKF: reduce KH to only the elements that are really needed, and merge the loops
2016-11-02 10:26:40 +01:00
1b59a89a18
EKF: save some stack memory
2016-11-02 09:06:06 +01:00
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
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Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
2016-11-01 22:49:20 +01:00
79df7e8889
EKF: Reduce effect of bad airspeed when other aiding data available
2016-10-25 08:34:41 +02:00
75bec44b94
EKF: add function to initialise wind states
2016-08-11 15:26:21 +02:00
a9894d7e8c
EKF: improve efficiency of airspeed fusion
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Don't compute array entries where the result will be zero
2016-08-11 15:26:21 +02:00
168d9add76
added getter function for wind states
2016-07-22 12:33:41 +02:00
381d99aed6
EKF: Inform console of serious fusion numerical errors
2016-06-08 11:58:33 +10:00
65da9173b9
EKF: capture innovation checks and reset events in separate variables
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rename the innovation check status class variable and remove the reset flags from it.
2016-06-01 17:13:00 +10:00
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
2016-06-01 17:13:00 +10:00
cf489f4248
EKF: capture airspeed innovation test failures
2016-06-01 17:13:00 +10:00
5217b73df1
added bad_airspeed reporting ( #123 )
2016-05-12 10:06:04 +02:00
Paul Riseborough