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Author SHA1 Message Date
Sebastian Verling
710c52980e fixed calculation of magentic table values by using floor instead of int casting 2019-05-24 09:09:26 +02:00
Beat Küng
54ac147ae8 Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time 
This does not change the default of 10 seconds.
 2019-05-15 09:00:24 +01:00
Roman
770cd3c5cc added python script for terrain flow derivation (optical flow for terrain 
height estimation)

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman
c085d7295d addressed review comments 2019-05-15 17:16:36 +10:00
Roman
8673ab0346 terrain estimator: constrain terrain state properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman
fbb51147b7 implemented use of optical flow for terrain estimation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Hamish Willee
a27a43eafa Fix up link to EKF docs 2019-05-01 00:36:29 -05:00
Mohammed Kabir
3f691891c4 EKF: control: stop vision yaw fusion on timeout 2019-04-22 12:56:24 +10:00
Martina
c4492b17c1 do not reset yaw if vehicle on ground 2019-04-09 20:50:37 +10:00
Julian Oes
14227eaf1d CMakeLists.txt: fix cmake warning 
This removes the cmake warning:
  implicitly converting 'string' to 'STRING' type.
 2019-04-08 09:54:47 -04:00
Paul Riseborough
f97f0b6ea3 EKF: Remove unnecessary code 
_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
 2019-04-08 06:57:17 +10:00
Paul Riseborough
43b5e26fe4 EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2 2019-04-08 06:57:17 +10:00
Roman
f95cd4b358 ground effect: removed dependency on local position 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-03-19 13:14:57 +11:00
CarlOlsson
7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00
CarlOlsson
32ca6f7030 ekf: scale wind process noise with low pass filtered height rate 2019-03-19 13:10:12 +11:00
CarlOlsson
938c8ad9ad EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff 2019-03-19 13:04:54 +11:00
Hamish Willee
8b4ae48c69 README: Fix link to EKF/ECL tuning guide 2019-03-18 10:21:10 -04:00
Carl Olsson
f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Todd Stellanova
6e77b197c7 Add DataValidatorGroup tests, add more DataValidator tests (#592) 2019-03-15 00:09:47 -04:00
Daniel Agar
a892ececf8 cmake add ECL_TESTS option only enabled in standalone build 2019-03-12 23:29:30 -04:00
Paul Riseborough
fabd216ca5 EKF: Documentation edits 2019-03-13 08:14:23 +11:00
CarlOlsson
8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson
2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson
1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson
000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 2019-03-12 19:07:55 +11:00
CarlOlsson
96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson
ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson
6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson
78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson
56b6b7a778 EKF: cleanup use of _mag_filt_state 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson
37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Todd Stellanova
6c759e0e9f Initial unit tests for DataValidator (#588) 2019-03-09 14:47:13 -05:00
Nuno Marques
4e0e68e905 Ekf: add more useful methods to interface with the covariances (#543) 2019-03-09 11:57:35 -05:00
Daniel Agar
a85d3a43ed attitude_fw remove unused 2019-03-05 17:26:19 -05:00
Daniel Agar
c66f7f4a09 EKF drop unused timestamp from collect_gps() and pass data by const reference 2019-03-05 17:26:19 -05:00
Freek van Tienen
78b899c72d Add Paparazzi compatibility (#580) 
This adds support for the paparazzi autopilot to use this library as EKF.
The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
 2019-03-05 12:41:21 -05:00
Daniel Agar
5cd331055f cmake standalone build pin PX4/Matrix to commit 
- 6b0777d815
 2019-03-05 12:35:37 -05:00
Daniel Agar
1378ec1797 EKF mag_fusion avoid unnecessary double promotion 2019-02-08 08:24:24 -05:00
Carl Olsson
54ab8191e3 EKF: add method to get the terrain variance 2019-02-06 08:49:16 -05:00
Daniel Agar
c5554cae96 EKF tests update SWIG usage and use latest containers 2019-02-03 18:27:00 -05:00
Paul Riseborough
dd58e69549 EKF: Ensure FW yaw alignment method is used on first in-air reset 2019-01-31 09:53:57 -05:00
Paul Riseborough
3accab1ac5 EKF: protect declination fusion from badly conditioned earth field estimates 
Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.

EKF: Move declination state limiting into a separate function

EKF: Limit NE mag states after each 3-axis mag fusion

EKF: Fix bug in mag field strength look-up scale factor
 2019-01-31 09:53:57 -05:00
Paul Riseborough
7bddbd1cc5 EKF: Update cleaned up autocode fragment with sign error fix and missing LD 2019-01-31 09:53:57 -05:00
Paul Riseborough
fe378fd761 EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion 2019-01-31 09:53:57 -05:00
Paul Riseborough
bd1647a7fb EKF: Rework use of fuseDeclination() 
Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
 2019-01-31 09:53:57 -05:00
Paul Riseborough
d52f53635b EKF: Save mag field covariance data before reset 2019-01-31 09:53:57 -05:00
Paul Riseborough
82ce7a83a5 EKF: Save mag field covariance information on startup 2019-01-31 09:53:57 -05:00
Paul Riseborough
708c79eb8f EKF: Ensure mag field state covariance data is always available for re-use 
Prevents use of  _saved_mag_ef_covmat and _saved_mag_bf_variance before being initialised or when stale.
 2019-01-31 09:53:57 -05:00
Paul Riseborough
8839e4e1f4 EKF: Don't discard declination certainty information when resuming 3-axis fusion. 
In the case where the EKF is switching between 3-axis and heading fusion, off-diagonal elements containing the correlation between N,E  components of the earth field were being lost on each switch event. These elements contained information about the declination uncertainty and should be preserved.
 2019-01-31 09:53:57 -05:00
Paul Riseborough
25148e1b45 EKF: Prevent rapid changes in declination estimate after a reset 
Ensures that each time the earth field covariance and variance data is reset, that the off-diagonal elements containing earth field declination angle certainty is restored.
 2019-01-31 09:53:57 -05:00