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5fd006ca482a32aad16d12994065d98e5ffc7b10
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696 Commits
Author SHA1 Message Date
Paul Riseborough 5fd006ca48 EKF: remove redundant code 2017-11-11 07:06:01 +11:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
Paul Riseborough 063533afae EKF: Add method to enable the IMU bias states to be reset externally 2017-10-26 10:41:39 +11:00
Paul Riseborough cd2ca57ec2 Merge pull request #339 from PX4/ekfPosCtrlLimits-wip 
Ekf pos ctrl limits wip
 2017-10-23 06:57:23 +11:00
Paul Riseborough 79995b2c15 Create total energy control system implementation 
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
 2017-10-22 20:37:40 +02:00
Paul Riseborough e10ec59058 EKF: Use consistent test for navigation validity reporting 
This will enable controller to take advantage of non-inertial dead reckoning.
 2017-10-20 14:44:38 +11:00
Paul Riseborough 19074fdd9e EKF: Use consistent time limit for inertial dead reckoning test 2017-10-20 14:44:38 +11:00
Paul Riseborough 55a2dc94df EKF: handle air data fusion covariance reset consistently 
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
Paul Riseborough 0d32128701 EKF: Use dead-reckoning status to determine if air data should modify non-wind states 2017-10-20 14:44:37 +11:00
Paul Riseborough e4ffe199ed EKF: fix bug in sideslip fusion activation 2017-10-20 14:44:37 +11:00
Paul Riseborough 59f1c3e19e EKF: Update dead-reckoning definition 
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
 2017-10-20 14:44:37 +11:00
Paul Riseborough a2dcd5b9b6 EKF: Consolidate no aiding reset logic 2017-10-20 14:44:37 +11:00
Paul Riseborough 929c5c2b37 EKF: enable gps fusion flag to be false while fusing air data 2017-10-20 14:44:37 +11:00
Paul Riseborough 204a218ee6 EKF: Allow dead-reckoning using air data 2017-10-20 14:22:06 +11:00
ChristophTobler f5fd90533a fix gps and flow flag handling 
gps flag was not turning false if there was flow

only reset states if we were relying on that sensor only
 2017-10-20 14:22:06 +11:00
Paul Riseborough 9857fb9eb6 EKF: publish control limits for optical flow navigation 2017-10-20 14:22:06 +11:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
CarlOlsson 8c83167857 EKF: fixed comment 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 11:41:55 +02:00
Paul Riseborough 32b795ee10 EKF: Add readme file to EKF documentation directory 2017-10-13 21:46:41 +11:00
Paul Riseborough 8dd4800a2c EKF: Add preliminary documentation for filter mathematics 2017-10-13 21:34:49 +11:00
Paul Riseborough dbff89fbcb EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW 2017-10-12 19:54:35 +11:00
Paul Riseborough 6f7f05fdc0 EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place 2017-10-12 14:50:23 +11:00
Paul Riseborough e834522f62 EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic 2017-10-12 14:50:23 +11:00
Paul Riseborough 7b4c957ad4 ekf2: Add new mag fusion mode 
Adds a mode where mag fusion is only used update the field estimates
 2017-10-12 14:50:23 +11:00
Paul Riseborough 9c65968c3d Merge pull request #334 from PX4/pr-ekf_minor_flow_fix 
ekf: fix optical flow bugs
 2017-10-12 09:14:29 +11:00
Paul Riseborough 68bad48598 Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var 
EKF: added get_wind_velocity_var function
 2017-10-12 09:12:54 +11:00
Paul Riseborough 4db23b7b2e EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks 2017-10-12 08:26:04 +11:00
Paul Riseborough 1119a9b0ac EKF: Enable optical flow reversion to work if flow data is lost 
Also improve reporting.
 2017-10-12 08:02:54 +11:00
ChristophTobler cdf6e6cd36 EKF: use delta_time to avoid division by zero 2017-10-11 15:15:06 +02:00
Paul Riseborough d293c4231d EKF: Protect against divide by zero caused by invalid optical flow 2017-10-11 21:54:47 +11:00
Paul Riseborough ab9b8e1964 EKF: Prevent bad optical flow quality causing loss of aiding when on ground 2017-10-11 21:22:33 +11:00
ChristophTobler b7e589b98a EKF: only fuse optical flow if terrain is valid 2017-10-10 17:51:56 +02:00
ChristophTobler 81a64c0479 ekf: fix flow direction when on ground 2017-10-10 14:39:44 +02:00
ChristophTobler 6cb99ce8a8 ekf: add function to get in air status 2017-10-03 22:36:33 +02:00
CarlOlsson 8200e4b218 EKF: added get_wind_velocity_var function 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-02 14:47:56 +02:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough 160e4d69c1 Merge pull request #323 from PX4/pr-ekfQuatMultOrder 
EKF: use hamiltonian convention for quaternion multiplication order
 2017-09-21 07:49:35 +10:00
Paul Riseborough 1d3e8edc46 EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation 2017-09-14 18:34:11 +10:00
Paul Riseborough dd5b8525c3 EKF: Use hamiltonian convention for quaternion product order 2017-08-31 11:14:02 +02:00
Paul Riseborough b0300b9723 Revert "attitude_fw delete unused and cleanup" 
This reverts commit 25bd3ac5e6.
 2017-08-30 16:23:40 +02:00
Daniel Agar 25bd3ac5e6 attitude_fw delete unused and cleanup 2017-08-26 17:44:24 -04:00
Daniel Agar 99ba1c3745 EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00
ChristophTobler 89236ef275 Merge pull request #314 from PX4/pr-check_stuck_rng 
Pr check stuck rng
 2017-08-21 07:54:06 +02:00
Peter Dürr 305a95aef9 Integrate Python-based tests and benchmark into Travis 
* Unfortunately, due to the SWIG dependency, we need sudo to install on
  Travis (conflicts when adding with debian-sid source prevent using addons)
  which means we cannot use the container-based infrastructure anymore.
* Building the Python bindings requires g++5 (at least with -Werr set).
* When building the Python bindings on Travis, the numpy includes are not found
  by cmake, so they have to be added separately by running a Python process with
  `numpy.get_include()`
* The build script now (somewhat clumsily) depends on the RUN_PYTEST environment
  variable. If it is set to anything other than "", it will make the tests and
  run tests and benchmarks
 2017-08-14 12:02:03 +02:00
Peter Dürr 15c8c24418 Fix time units on plots 
* Time in plots was of by a factor of 1e3 due to wrong conversion from us.
 2017-08-14 12:02:03 +02:00
Peter Dürr b29067a188 Better handle Python dependencies 
* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
  user if necessary.
 2017-08-14 12:02:03 +02:00
Peter Dürr bb5719a0da Add Python wrapper to ecl and use it to test functionality 
* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
  Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
  bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
 2017-08-14 12:02:03 +02:00
Peter Dürr 5988900044 Add getters for a few private variables of the EstimatorInterface 
* For testing it is useful to have access to more internal states
* For the same reason I also promote the const FILTER_UPDATE_PERIOD_MS to
  public
 2017-08-14 12:02:03 +02:00
Peter Dürr a2ed0a76f9 Make the destructor of EstimatorInterface virtual 
* This is a sane choice (and should arguably always be done for classes with
  virtual methods to avoid undefined behavior)
* It is required for wrapping the EstimatorInterface with SWIG (without virtual
  destructor, deriving from the EstimatorInterface leads to
  -Werror=delete-non-virtual-dtor).
 2017-08-14 12:02:03 +02:00