c5b2f59f57
PX4 style fixes (excluding EKF generated code)
2018-05-03 22:25:36 -04:00
ae069b12d6
EKF: Fix bug preventing wind relative dead reckoning
2018-04-21 13:04:04 -04:00
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
2018-03-26 21:52:11 -04:00
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
2017-11-08 11:40:26 +01:00
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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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
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
8200e4b218
EKF: added get_wind_velocity_var function
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2017-10-02 14:47:56 +02:00
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
cc5db74d1b
EKF: Add true airspeed accessor
2017-08-07 09:19:48 +10:00
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
951c8b77af
EKF: Improve wind state reset logic
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Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
2016-11-05 12:19:01 +01:00
07c6aabd98
EKF: reduce KH to only the elements that are really needed, and merge the loops
2016-11-02 10:26:40 +01:00
1b59a89a18
EKF: save some stack memory
2016-11-02 09:06:06 +01:00
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
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Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
2016-11-01 22:49:20 +01:00
79df7e8889
EKF: Reduce effect of bad airspeed when other aiding data available
2016-10-25 08:34:41 +02:00
75bec44b94
EKF: add function to initialise wind states
2016-08-11 15:26:21 +02:00
a9894d7e8c
EKF: improve efficiency of airspeed fusion
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Don't compute array entries where the result will be zero
2016-08-11 15:26:21 +02:00
168d9add76
added getter function for wind states
2016-07-22 12:33:41 +02:00
381d99aed6
EKF: Inform console of serious fusion numerical errors
2016-06-08 11:58:33 +10:00
65da9173b9
EKF: capture innovation checks and reset events in separate variables
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rename the innovation check status class variable and remove the reset flags from it.
2016-06-01 17:13:00 +10:00
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
2016-06-01 17:13:00 +10:00
cf489f4248
EKF: capture airspeed innovation test failures
2016-06-01 17:13:00 +10:00
5217b73df1
added bad_airspeed reporting ( #123 )
2016-05-12 10:06:04 +02:00
3cdf56e57c
Merge pull request #122 from CarlOlsson/airspeed_fix
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fixed_airspeed_healthy_bug
2016-05-09 10:24:22 +10:00
ee7d7aeb8a
fixed_airspeed_healthy_bug
2016-05-08 18:30:37 +02:00
020b87933e
EKF: replace fault status struct with a union to facilitate logging
2016-05-07 21:11:16 +10:00
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
1126048a93
EKF: Improve protection against bad airspeed fusion
2016-05-07 14:23:38 +10:00
82da832816
EKF: tidy up Kalman gain calculations
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Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
2016-05-05 21:23:03 +10:00
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
22d18d638c
enable Wshadow
2016-05-04 19:45:40 -04:00
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
2016-04-19 09:53:31 +02:00
6b3ad03419
Merge pull request #86 from CarlOlsson/small_airspeed_fix
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Small airspeed fix
2016-04-05 16:38:37 -07:00
8678a939e2
removed reinitialization of intermediate variables
2016-04-05 14:18:47 +02:00
2632c930f7
Merge pull request #85 from CarlOlsson/add_error_reporting_tas
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added fault status reporting
2016-04-04 18:52:06 +02:00
eee6f1048f
Changed vtaspred threshold
2016-04-04 16:27:06 +02:00
3ad5b52aea
removed comment
2016-04-04 16:26:46 +02:00
616725410d
updated calculation
2016-04-04 16:26:13 +02:00
ec9902d802
added fault status reporting
2016-04-04 16:21:12 +02:00
1ea26b406a
change name to true_airspeed
2016-04-04 16:10:52 +02:00
0fb1e0578b
added function for fusing airspeed
2016-03-30 17:01:03 +02:00
Daniel Agar