644e903552
Apply measurementUpdate function
2020-08-24 18:04:57 +10:00
fd849e0578
EKF: Fix specific force observation noise variance
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Also add protection for out of range value.
2020-08-18 17:05:59 +10:00
76f393dcb0
EKF: Use const reference instead of local copy
2020-08-18 17:05:59 +10:00
c43307b8cf
EKF: convert drag fusion from Matlab to SymPy generated auto-code
2020-08-18 17:05:59 +10:00
7609bc69b2
drag innov member variables to Vector2f
2020-08-04 09:57:00 +02:00
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
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
d18ddb3e92
Use ternary operator
2020-07-02 15:55:24 +02:00
16a00eae0b
Make Kfusion a Vector24f
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
a3706fdcef
Make relative wind computation more compact
2020-06-26 08:26:26 +02:00
ff8b5ec69d
Extract general functions into utils
2020-06-23 08:18:34 +02:00
cec6d76577
Raise awareness for drag variance(!=stdDev) bug
2020-01-08 09:00:31 +01:00
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
07e804676c
Rename IMU biases
2019-12-05 20:09:34 +11:00
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
2019-10-23 14:44:08 +03:00
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
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
f3909244f0
EKF: Correct units in comments
2017-07-25 09:17:18 +10:00
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
1e393530ed
EKF: Fix travis clang build error
2017-04-18 17:06:31 +10:00
c607941e2f
EKF: Allow external setting of air density for multi-rotor drag fusion
2017-04-16 13:07:12 +02:00
3758c5a09d
EKF: down-sample drag specific force data
2017-04-16 13:07:12 +02:00
5cf31e439d
EKF: Add specific drag fusion tuning parameters
2017-04-16 13:07:12 +02:00
465b145929
EKF: Add multi-rotor drag model for wind estimation
2017-04-16 13:07:12 +02:00
kamilritz