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92 Commits

Author SHA1 Message Date
Paul Riseborough
f0bbbc8dc6 EKF: Add reporting of bad accel status 2017-04-07 08:47:13 +10:00
Paul Riseborough
040639837e EKF: Use common timeout test for reporting deadreckoning 
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
Paul Riseborough
6ac7e2f807 EKF: report conservative position errors when failing innovation checks 2017-03-15 07:57:38 +01:00
Paul Riseborough
21e7734149 EKF: fix compile error 2017-03-14 13:00:54 +01:00
Paul Riseborough
f7cae7f3ab EKF: improve compatibility with ARM cross compiler 
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
Paul Riseborough
cf31945038 EKF: Fix use of incorrect timestamp 
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
Paul Riseborough
e4a4427991 Revert "EKF: fix compile error" 
This reverts commit 6db552717deefff6b4ad7078bcf4c769d94f1957.
 2017-03-10 07:38:02 +11:00
Paul Riseborough
6db552717d EKF: fix compile error 2017-03-07 21:13:45 +11:00
Daniel Agar
eb4f5ecbb9 cmake add all EKF sources (#243) 
- 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
Paul Riseborough
0d77470efc EKF: Use conservative reporting of velocity errors when aiding is lost 2017-02-25 21:17:01 +01:00
Paul Riseborough
8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough
d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough
b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough
d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
Daniel Agar
2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Daniel Agar
47b8ef258b clang-tidy performance-type-promotion-in-math-fn (#236) 2017-02-02 00:17:08 -05:00
Daniel Agar
d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Paul Riseborough
934890c2df EKF: Add validity flag to ekf origin reporting 
Flag is false until the origin has been initialised
 2016-12-28 00:56:09 +01:00
CarlOlsson
c8e3c24150 adopted ekf_helper.cpp 2016-11-05 12:19:01 +01:00
Paul Riseborough
b10b0184c5 EKF: Add IMU vibration calculation and reporting 
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
 2016-10-19 21:46:55 +11:00
Roman
17c195d1cd ekf2 height reset: do not apply height change to height state twice (bug) 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 07:58:19 +02:00
Roman
f80b3481a4 reset the newest output sample for all possible resets 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-12 08:54:38 +02:00
Roman
238d947239 proper handling of position and velocity reset 
- 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
Paul Riseborough
352750e5d1 EKF: publish ekf solution status summary data 2016-10-06 09:02:29 +02:00
Paul Riseborough
007e73379f EKF: Improve reporting of position error 2016-10-06 09:02:29 +02:00
Paul Riseborough
744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Paul Riseborough
65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Julian Oes
616aeb9ad7 ekf_helper: fix forgotten return value 2016-09-27 16:36:29 +02:00
Beat Küng
73b8ac954d ekf_helper.cpp: remove unused includes 
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
Paul Riseborough
f5e9ea1626 EKF: Prevent potential divide by zero 2016-06-30 17:06:32 +10:00
Paul Riseborough
7bc9217f00 EKF: Clean up control of observation fusion 
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
Roman Bapst
bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman
703fb4e31b do not return early in velocity reset method otherwise 
some code will not be executed
 2016-06-08 07:51:18 +02:00
Paul Riseborough
f26aca55a1 EKF: Fix bug in quaternion covariance initialisation function 
The covariances between quaternion and non-quaternion states were not being updated
 2016-06-08 13:23:30 +10:00
Paul Riseborough
6a55d908c5 EKF: replace reset event times with event counters 
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
Paul Riseborough
9ec09f5f4e EKF: update output observer and capture reset event for magnetic heading resets 2016-06-01 17:13:00 +10:00
Paul Riseborough
aca0336392 EKF: update vertical position and velocity reset capture 
Use reset event struct members instead of separate variables
 2016-06-01 17:13:00 +10:00
Paul Riseborough
0605c88ecc EKF: capture horizontal position reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
e3a1b4a3b3 EKF: capture velocity reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
79705da7e6 EKF: make output predictor states consistent with position reset 2016-06-01 17:13:00 +10:00
Paul Riseborough
54d90261d5 EKF: make output predictor states consistent with velocity reset 2016-06-01 17:13:00 +10:00
Paul Riseborough
ad02818b3d EKF: Improve height reset for external vision 
reset to measurement closest in time to fusion time horizon
 2016-05-27 14:00:50 +10:00
Paul Riseborough
1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Paul Riseborough
ae5071f668 EKF: Improve heading reset 
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
Paul Riseborough
94a63ec9d5 EKF: don't interfere with quaternion covariances during tilt alignment 2016-05-18 19:25:19 +10:00
Paul Riseborough
e4b2e9c93d EKF: Improve yaw alignment 
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
Paul Riseborough
57b2a256f7 EKF: Improve initialisation of quaternion covariances 
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
Paul Riseborough
1540e937b1 EKF: Improve tilt alignment monitoring 
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
Paul Riseborough
81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
25682dce91 EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow 2016-05-08 10:30:40 +10:00