5c4a3d4576
Make observation jacobian a Vector24f when possible
2020-07-16 18:25:06 +02:00
b5e1397c0f
Add const modifier
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const modifier
Add missing const modifier
2020-07-16 18:25:06 +02:00
e357376797
Bring declaration and initialization together
2020-07-16 18:25:06 +02:00
796afd5f98
Rename yaw_use_inhibit -> is_yaw_fusion_inhibited
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Temp
2020-07-16 18:25:06 +02:00
4cb2d1c645
Remove duplicated code snippets
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by combining x and y ballistic coeff inverse a vector
2020-07-16 18:25:06 +02:00
b0ad9f0226
Replace componentwise with matrix operation
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
efd96db49d
Avoid setting 0 to 0
2020-07-16 18:25:06 +02:00
5ef18f8823
Style improvement
2020-07-16 18:25:06 +02:00
01515b9a9c
Replace min(max()) with constrain
2020-07-16 18:25:06 +02:00
b0458fbded
Refactor output buffer updates into separate functions
2020-07-16 18:25:06 +02:00
3d82d822ae
Add const modifier
2020-07-16 18:25:06 +02:00
93011ed52c
Use ternary operator
2020-07-16 18:25:06 +02:00
46a5e6e428
Replace divisions with multiplications
2020-07-02 15:55:24 +02:00
3e3a66e9e9
Remove unnecessary operations
2020-07-02 15:55:24 +02:00
079a699556
Random cleanup
2020-07-02 15:55:24 +02:00
d18ddb3e92
Use ternary operator
2020-07-02 15:55:24 +02:00
122f58b94d
Bug: stop overwriting fault status of index 0 with index 1
2020-07-02 15:55:24 +02:00
9e211d6ca1
Stop overwriting fault status with false if one component is true
2020-07-02 15:55:24 +02:00
e5ddd912a4
Remove not needed else case
2020-07-02 15:55:24 +02:00
430497e2f7
Shift variable definition inside calculateOutputStates
2020-07-02 15:55:24 +02:00
f59343b343
Remove misplaced comment
2020-07-02 15:55:24 +02:00
673b309c45
Fix bug: pos gain used instead of vel gain
2020-07-02 15:55:24 +02:00
2af2696b63
Revert if-else condition to get rid of unnecessary indentation
2020-07-02 15:55:24 +02:00
fce4958d4f
Random cleanup
2020-07-02 15:55:24 +02:00
9eea44f4ab
Return type of resets ( #859 )
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* Reset position/velocity return type is void
* Delete not needed comments
2020-07-02 14:53:59 +02:00
97e54df123
Gps control: add missing consts and reduce variable scope
2020-07-02 13:35:13 +02:00
b0f79caf34
GPS yaw: Extract and refactor GPS yaw control logic
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- Rename GPS yaw fusion functions:
resetGpsAntYaw -> resetYawToGps
fuseGpsAntYaw -> fuseGpsYaw
- Move last fusion time in reset function
2020-07-02 13:35:13 +02:00
7f4fedde6a
GPS Yaw: fix heading initialisation and add unit tests
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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
97225fcb74
Use matrix lib inside getState
2020-07-02 09:02:24 +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
5356077a32
Make flow_innov/-var a matrix Vector2f
2020-06-26 08:26:26 +02:00
c2801eb488
Add const modifier and increase matrix library usage
2020-06-26 08:26:26 +02:00
d9afc2f1e8
Remove repeated division by same value
2020-06-26 08:26:26 +02:00
d16b43a2da
Get rid of non functional piece of code
2020-06-26 08:26:26 +02:00
c3653e68ca
Add const modifier
2020-06-26 08:26:26 +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
630be60930
Increase matrix library usage
2020-06-26 08:26:26 +02:00
22274b1d30
Add const modifier
2020-06-26 08:26:26 +02:00
61c139ea95
Remove unused variable
2020-06-26 08:26:26 +02:00
afd4f3f86b
Fix typo
2020-06-26 08:26:26 +02:00
a3706fdcef
Make relative wind computation more compact
2020-06-26 08:26:26 +02:00
b8f937666a
Make mag_innov/-var a Matrix::Vector3f
2020-06-26 08:26:26 +02:00
0ea7cd8360
Attempt to fix CI firmware build test
2020-06-26 07:38:25 +02:00
2927132954
clang-format set BreakBeforeBraces to Linux style
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- this keeps things consistent with PX4/Firmware astyle
2020-06-25 13:23:52 -04:00
b96c62ed8b
Optionalized build dependency on git
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Signed-off-by: Bill Morris <bill@sevendof.com >
2020-06-25 08:56:26 -04:00
kamilritz