Paul Riseborough
7069fb7a04
EKF: refresh auto code for mag fusion
2016-05-05 21:23:03 +10:00
Paul Riseborough
ffea65e1a4
EKF: fix bug in state prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough
63f093a10a
EKF: Update upper limits for state variances
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This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough
26a51c667d
EKF: Improve robustness to initial gyro bias errors
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Allows for ~6 deg/sec of startup bias
2016-05-05 21:23:03 +10:00
Paul Riseborough
7530e30012
EKF: Improve IMU data collection
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Use IMU driver published delta angle integration time to determine when enough data has been accumulated.
Perform basic first order sculling corrections on delta velocity data
Comment steps to make make method clearer
2016-05-05 21:23:03 +10:00
Paul Riseborough
f23f0b1035
EKF: fix bugs in stationary process model covariance prediction
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Noise variance for stationary states was being overwritten by the covariance prediction operations for the kinematic states
Unwanted states could end up with non-zero covariance values
The forced symmetry operation was being applied too late to be effective
2016-05-05 21:23:03 +10:00
Paul Riseborough
a373ada858
EKF: explicitly define floating point type in hardcoded constants
2016-05-05 21:23:03 +10:00
Paul Riseborough
a189c60d33
EKF: update code fragment text files
2016-05-05 21:23:03 +10:00
Paul Riseborough
f4e84a2234
EKF: fix axis label error in comments
2016-05-05 21:23:03 +10:00
Paul Riseborough
57d3036ee7
EKF: update derivation files
2016-05-05 21:23:03 +10:00
Paul Riseborough
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
Paul Riseborough
311d046a26
EKF: Enable optional activation of XY delta velocity bias estimation
2016-05-05 21:23:03 +10:00
Paul Riseborough
572c2280bd
EKF: tidy up covariance prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough
54e713969d
EKF: Fix rebase error
2016-05-05 21:23:03 +10:00
Paul Riseborough
67d23948b5
EKF: preliminary re-tune
2016-05-05 21:23:03 +10:00
Paul Riseborough
03c35266ef
EKF: remove unused parameter
2016-05-05 21:23:03 +10:00
Paul Riseborough
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
Daniel Agar
22d18d638c
enable Wshadow
2016-05-04 19:45:40 -04:00
Paul Riseborough
c6775b5bf2
Merge pull request #118 from PX4/fix_member_init
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ekf: initialize _terrain_var
2016-05-03 10:26:48 +10:00
Beat Küng
f2dda3c183
ekf: initialize _terrain_var, fixes access to uninitialized value
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in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the
valgrind output:
==15439== Thread 14 ekf2:
==15439== Conditional jump or move depends on uninitialised value(s)
==15439== at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so)
==15439== by 0x4D1AF0: Ekf::get_terrain_vert_pos(float*) (terrain_estimator.cpp:135)
==15439== by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655)
==15439== by 0x42BF3D: entry_adapter(void*) (px4_posix_tasks.cpp:103)
==15439== by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so)
==15439== by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)
2016-05-02 17:35:42 +02:00
Paul Riseborough
0a6d95c6c2
Merge pull request #116 from PX4/pr-covReset
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after a height reset zero the cross covariances for height and vertical
2016-05-01 21:44:38 +10:00
Roman
0c77ebf6bd
EKF: Reduce likelihood of bad covariance values after height resets
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The cross terms (covariances) are now reset before the variance variance is set.
The vertical velocity state variance following a reset without GPS has been reduced.
2016-05-01 21:39:56 +10:00
Paul Riseborough
6c57bea1c3
EKF: fix bug in IMU error application timing patch
2016-04-30 15:11:12 +10:00
Paul Riseborough
6ecbefd7e4
EKF: add matlab script to test complementary filter gains
2016-04-30 11:05:03 +10:00
Paul Riseborough
15df20831a
EKF: improve output complementary filter tracking
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Optimise for height tracking and adjust gains automatically with changes in time delay.
2016-04-30 11:03:45 +10:00
Paul Riseborough
4fa1e9c651
EKF: Fix timing errors in state prediction
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IMU corrections were being applied at the wrong time horizon to the EKF states
IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.
2016-04-30 11:02:19 +10:00
Paul Riseborough
4c9c102597
Merge pull request #115 from PX4/fix_isfinite_again
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ekf: another stab at fixing isfinite for all
2016-04-29 09:12:59 +10:00
Julian Oes
f8a48f9cc5
ekf: now it should even compile for NuttX
2016-04-28 16:30:49 +02:00
Julian Oes
12f4d6f703
ekf: another stab at fixing isfinite for all
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The previous solution did not work for Snapdragon, so I needed to copy
what is used in px4_defines.h.
2016-04-28 16:09:12 +02:00
Paul Riseborough
22ad87599c
Merge pull request #112 from PX4/fix_ubuntu1604_2
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ekf: compile fix for Ubuntu 16.04
2016-04-27 21:21:04 +10:00
Julian Oes
46e207106b
ekf: use std::isfinite instead of isnan
2016-04-27 12:58:22 +02:00
Lorenz Meier
7b702ee37e
Merge pull request #105 from georgehines/matlab-log-import
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fix a field name that I missed last time
2016-04-26 10:03:37 +02:00
Lorenz Meier
7c7945961e
Merge pull request #107 from dagar/l1_init
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L1 initialize everything
2016-04-26 10:01:27 +02:00
Daniel Agar
fe5a337c99
l1 initialize everything
2016-04-25 14:39:11 -04:00
George Hines
9994aa7fdb
fix a field name that I missed last time
2016-04-22 17:21:47 -07:00
Paul Riseborough
42635903cd
Merge pull request #102 from priseborough/pr-ekf2HeightReset
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EKF: Improve height reset behaviour
2016-04-23 10:04:13 +10:00
Paul Riseborough
4fcbfb5d42
EKF: correct error in comment
2016-04-23 07:55:25 +10:00
Paul Riseborough
13814681d7
Merge pull request #104 from georgehines/matlab-log-import
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Matlab log import
2016-04-23 07:50:07 +10:00
Paul Riseborough
3e81b86280
EKF: improve height reset logic
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Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
2016-04-22 10:50:53 +10:00
Paul Riseborough
874558d194
EKF: improve detection of bad vert accel data
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Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
2016-04-22 09:24:04 +10:00
Paul Riseborough
469a7d1711
EKF: rework height reset
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calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
2016-04-22 08:43:56 +10:00
Paul Riseborough
e3365525c2
EKF: rework height reset logic
2016-04-22 08:39:24 +10:00
Paul Riseborough
421703c267
EKF: rework initialisation of height state and offsets
2016-04-22 08:38:41 +10:00
Paul Riseborough
a7417657c3
EKF: ensure fusion timeout counters are reset when required
2016-04-22 08:33:11 +10:00
Paul Riseborough
10bf05e9a6
EKF: publish the vertical position offset
2016-04-22 08:30:46 +10:00
Paul Riseborough
0de15b1b20
EKF: Add variables to monitor vertical position and height offset
2016-04-22 08:28:56 +10:00
Paul Riseborough
62c6d40f1f
EKF: Add methods to ring buffer to access specific indices
2016-04-22 08:21:36 +10:00
George Hines
59df1a3552
rename log GUI consistent with its assumptions
2016-04-21 10:58:28 -07:00
George Hines
62bdcf3e9b
supports APM dataflash logs
2016-04-21 10:54:37 -07:00
Paul Riseborough
b295f9050c
EKF: ensure GPS check status is correctly initialised
2016-04-20 21:53:15 +10:00
