Paul Riseborough
5ee0ed5a0d
EKF: Increase sensitivity and add tuning of bad accel checks
2017-04-29 11:47:38 +02:00
Paul Riseborough
5112ffca90
EKF: Adjust default time delay params and clean up formatting
2017-04-27 07:34:42 +02:00
Daniel Agar
3919d60f66
ekf2 initialization fixes
2017-04-24 18:56:50 -04:00
Paul Riseborough
3758c5a09d
EKF: down-sample drag specific force data
2017-04-16 13:07:12 +02:00
Paul Riseborough
5cf31e439d
EKF: Add specific drag fusion tuning parameters
2017-04-16 13:07:12 +02:00
Paul Riseborough
465b145929
EKF: Add multi-rotor drag model for wind estimation
2017-04-16 13:07:12 +02:00
Paul Riseborough
7b996c5972
EKF: Increase measurement error allowance for accelerometer clipping
2017-04-07 16:37:27 +10:00
Paul Riseborough
f0bbbc8dc6
EKF: Add reporting of bad accel status
2017-04-07 08:47:13 +10:00
Paul Riseborough
2f2ac5be43
EKF: Improve protection against severe IMU accel errors
...
Use vertical velocity and position innovation failure to detect bad accelerometer data caused by clipping or aliasing which can cause large vertical acceleration errors and loss of height estimation. When bad accel data is detected:
1) Inhibit accelerometer bias learning
2) Force fusion of vertical velocity and height data
3) Increase accelerometer process noise
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
588b27bde7
EKF: inhibit accelerometer bias learning if manoeuvre levels are excessive
...
This prevents bad scale factors and other errors associated with rapid manoeuvres corrupting the accelerometer bias estimates.
2017-03-10 10:14:06 +01:00
Paul Riseborough
324fe3b0c7
EKF: Add accel bias estimation fault to reporting
2017-03-10 10:14:06 +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
3dadc98b43
EKF: enable scaling of range observation variance with height
2017-02-22 14:12:05 +01:00
Paul Riseborough
cf9c8de167
EKF: Add arbitrary pitch offset for range sensor
2017-02-22 14:12:05 +01:00
Paul Riseborough
3b61528f0f
EKF3: initialise default value for EV fusion gate
2017-01-15 10:02:31 +01:00
Lorenz Meier
bf8a9a3d09
EKF: Whitespace fixes
2016-12-17 13:45:28 +01:00
Paul Riseborough
d5b398ddb1
EKF: Minimise data buffer lengths
...
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
2016-11-07 09:06:45 +11:00
Paul Riseborough
6c7703d485
EKF: Update tuning for synthetic sideslip fusion
...
Used value that worked well for replay of flight logs
2016-11-05 12:19:01 +01:00
CarlOlsson
dec686afd7
updated parameters
2016-11-05 12:19:01 +01:00
CarlOlsson
beb90f008d
adopted code for upstream changes
2016-11-05 12:19:01 +01:00
CarlOlsson
738414d36e
adopted common.h
2016-11-05 12:19:01 +01:00
Roman
c5f750dcca
ekf reset: more granular reset / timeout strategy for gps fusion
...
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com >
2016-10-24 11:40:12 +02:00
Paul Riseborough
1093e6d789
EKF: fix documentation error
2016-10-13 22:37:14 +02:00
Paul Riseborough
352750e5d1
EKF: publish ekf solution status summary data
2016-10-06 09:02:29 +02:00
Paul Riseborough
b5ba4f280f
EKF: reduce output predictor velocity time constant
2016-10-03 14:13:07 +11:00
Beat Küng
9a95898414
gps_message: remove time_usec_vel from struct (unused)
2016-06-27 10:12:23 +02:00
Roman Bapst
1b394460a3
fix comment about filter bias states
...
Signed-off-by: Roman Bapst <roman@px4.io >
2016-06-21 14:13:47 +02:00
Paul Riseborough
65da9173b9
EKF: capture innovation checks and reset events in separate variables
...
rename the innovation check status class variable and remove the reset flags from it.
2016-06-01 17:13:00 +10:00
Paul Riseborough
106482b078
EKF: add structure to capture innovation test failures and state resets
2016-06-01 17:13:00 +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
e41524ac9d
EKF: remove unused variables
2016-05-27 11:21:04 +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
88860d0307
EKF: Enable tuning for IMU switch on bias errors
2016-05-17 11:17:24 +10:00
Paul Riseborough
920d83d68c
EKF: Fix bugs preventing use of external vision yaw data
2016-05-14 21:56:41 +10:00
devbharat
b681c9a5d0
Added external vision noise parameters etc and position offset
2016-05-14 21:17:29 +10:00
devbharat
ff8f03b5dd
Added compensation for VI sensor offset. Check sign.
2016-05-14 21:17:29 +10:00
Paul Riseborough
e917d6c7f2
EKF: Add fusion of external yaw data
2016-05-14 21:17:29 +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
3a0fcd03d7
EKF: Add interfaces and variables to use ext vision data
2016-05-14 21:17:29 +10:00
Paul Riseborough
c7e225124c
EKF: Improve output observer position and velocity tracking
...
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
2016-05-14 12:45:29 +09:30
Carl Olsson
b126921894
changed airspeed innovation gate to 5 ( #119 )
2016-05-12 10:05:26 +02:00
Paul Riseborough
1a24ec5f50
EKF: remove unused flag from control status message
2016-05-10 10:45:06 +10:00
Paul Riseborough
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
2016-05-08 16:03:21 +10:00
Paul Riseborough
020b87933e
EKF: replace fault status struct with a union to facilitate logging
2016-05-07 21:11:16 +10:00
Paul Riseborough
310bd97080
EKF: Improve protection against bad pos vel fusion
2016-05-07 14:22:59 +10:00
Paul Riseborough
d9aeace6ac
EKF: tuning update
2016-05-05 21:23:03 +10:00
Paul Riseborough
1daa6c7866
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
Paul Riseborough
fc6c0c7ebf
EKF: Update covariance prediction
...
Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
2016-05-05 21:23:03 +10:00
Paul Riseborough
ecaffe63af
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
Paul Riseborough