79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
...
Shared Library build
2016-02-23 08:30:46 +01:00
a711632017
EKF: Add method to fuse horizontal magnetometer data
...
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
2016-02-20 19:45:32 +11:00
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
2016-02-19 23:57:06 -07:00
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
...
Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
...
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
2016-02-19 16:18:07 +11:00
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
...
EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
...
Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
2016-02-17 17:22:02 +11:00
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
294aca8609
EKF: Improve variance limiting for stationary states
...
Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
2016-02-16 11:08:30 +11:00
1d40507af8
EKF: Set Kaman gains to zero for un-used states
...
This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
69b8982043
EKF: Initialise variances to zero for un-used states
...
Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
2016-02-16 11:08:30 +11:00
d9bf4e9870
EKF: Enable control mode transitions to be detected
...
Save the previous value of the filter control modes
2016-02-16 11:08:30 +11:00
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
...
This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
...
The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
dba58aa4c6
EKF: Add control logic for fusion modes
2016-02-14 22:01:53 +01:00
22c177c951
EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode
2016-02-14 22:01:53 +01:00
c089079321
EKF: Split tilt and yaw align
2016-02-14 22:01:53 +01:00
020cc5978e
EKF: Move calculation of declination into a separate function
2016-02-14 22:01:53 +01:00
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
2016-02-14 22:01:53 +01:00
2bbe7f9a1c
EKF: Update magnetometer fusion to use declination from the specified source
2016-02-14 22:01:53 +01:00
83945581ed
EKF: Add function to calculate the magnetic declination to use
2016-02-14 22:01:53 +01:00
9017e077f8
EKF: Publish the magnetic declination we wish to save for next startup
2016-02-14 22:01:53 +01:00
0308f2f796
EKF: Add parameters to control declination source and fusion type
2016-02-14 22:01:53 +01:00
6140d4b21f
EKF: Add function to reset yaw and magnetic field states
2016-02-14 22:01:53 +01:00
ad978c642f
estimator interface:
...
added flag for in_air status of vehicle
2016-02-14 20:43:22 +01:00
ce0ddc0207
-added comments
...
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
9d7340e187
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-14 09:49:26 +01:00
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
2016-02-14 09:49:26 +01:00
1e766c7510
moved fuse function to ekf_helper.cpp
2016-02-12 15:54:32 +01:00
fff2bd50f6
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-10 15:16:05 +11:00
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
2016-02-10 10:25:27 +11:00
5ea0ef39cd
EKF: Update declination fusion logic
...
We do not need to run declination fusion if 3-axis mag fusion is not being used.
2016-02-09 07:54:24 +11:00
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
cdc42c1de0
EKF: Add simple control logic for magnetic declination constraint
2016-02-08 14:18:43 +11:00
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
...
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
2016-02-08 14:18:43 +11:00
9347afe250
EKF: Use unique variable name for mag heading fusion observation Jacobian
2016-02-08 14:18:43 +11:00
mcsauder