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1,439 Commits 852 Branches 161 Tags
7c179b39b87be6edf1eb544d9dad7cf906c3a04d
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1088 Commits
Author SHA1 Message Date
Carl Olsson 3fa5f501ae EKF: dont check gps_check_fail_status in velocity reset (#761) 
In a velocity reset we only used the GPS measurement if _gps_check_fail_status.value was equal to zero. The value of this flag is independent of EKF2_GPS_CHECK so checks can fail even if they are not configured to have any effect.
 2020-02-27 11:59:38 +01:00
Daniel Agar 71d4d22ae4 EKF: covariances() helper return const reference and fix code style 
- PX4 astyle puts the reference with the name.
 2020-02-21 11:28:44 -05:00
bresch 8b918563a2 ekf: fix angle wrapping in realignYawGPS 
To obtain the correct difference between two angles, we need to wrap
the result between -pi and pi. Otherwise, the difference between two
angles close to 180 degrees but with opposite signs will produce a large
error.
For example if a = -179 and b = 179, b - a = 258 instead of -2 degrees
 2020-02-21 13:08:30 +01:00
Daniel Agar 00872fcaa3 EKF: ImuDownSampler pass imuSample as const reference 
- inline ImuDownSampler::getDownSampledImuAndTriggerReset()
 - minor formatting and initialization cleanup
 2020-02-18 13:20:52 -05:00
bresch 81c6d6655f ekf: clean uncorrelateQuatStates function 
As the name can be ambiguous, it gets renamed
"uncorrelateQuatFromOtherStates".
Also replace the loops storing the values and reapplying them by simply
zeroing two slices (this also saves 130B of flash).
 2020-02-13 14:33:32 +01:00
bresch 90ca012705 ekf_helper: restore oridinal quaternion decorrelation 
The intent of the function "uncorrelateQuatStates()" is to uncorrelathe quaternions from the other states but not between each other as they are and should remain linked alltogether.
Clearing the quaternions to quaternion covariances introduced unstabilities in other states (especially accel biases).
 2020-02-12 22:03:22 +01:00
CarlOlsson b6420d0b79 ekf: add vehicle at rest to flags 2020-02-12 18:58:24 +01:00
Paul Riseborough 89bcebd631 EKF: Prevent covariance initialisation overwriting yaw variance 
Also typo fix
 2020-02-05 15:20:34 +01:00
Paul Riseborough a3347b7e06 EKF: Use more conservative value for delta velocity bias process noise 
Smaller values have resulted in bias estimation divergence under some conditions
 2020-02-05 15:20:34 +01:00
Paul Riseborough 21054a4236 EKF: Fix bug causing incorrect covariance initialisation 
The covariance initialisation should not be performed before the quaternion states are initialised.
 2020-02-05 15:20:34 +01:00
kamilritz da752c9e30 Hot flow fusion fix 2020-01-28 17:19:51 +01:00
kritz ee859e092a Robustify timestamp checks (#729) 
* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
 2020-01-28 20:33:16 +11:00
kamilritz f20726d47f Expand auto-format coverage and tiny style changes 2020-01-27 16:54:25 +01:00
bresch e3af91c9ce Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel) 2020-01-24 17:22:50 +04:00
kamilritz a3e1eb9d50 Checkout to matching firmware if possible 2020-01-24 16:18:42 +03:00
kamilritz f3d790a664 Update optical flow interface 2020-01-24 16:18:42 +03:00
RomanBapst cafb1400fb estimator_interface: bugfix, set range sample correctly 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-01-24 13:03:04 +01:00
kamilritz 4b0e7b2cff Remove filtering on external vision alignment 2020-01-24 08:23:12 +01:00
kamilritz de33885658 Update setExtVisionData interface 2020-01-23 14:50:43 +01:00
kritz ed916c8006 Auto Formatting with clang-format-6.0 (#727) 
* Add clang-format

* Auto-format AlphaFilter and RingBuffer

* Update to tab=8spaces

* Allow for 120 width
 2020-01-23 20:56:10 +11:00
CarlOlsson dbf0bd43e8 EKF: update wind covariance initialization 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2020-01-23 10:27:54 +11:00
kamilritz 37201fb071 Remove legacy imu interface 2020-01-23 09:34:07 +11:00
kamilritz 7c3a2f839b Update range finder interface 2020-01-23 09:34:07 +11:00
kamilritz 4fb2d1b02e Update range finder interface 2020-01-23 09:34:07 +11:00
kamilritz 9f0d8ed59e Update mag interface 2020-01-23 09:34:07 +11:00
kamilritz 856961ba85 Update airspeed interface 2020-01-23 09:34:07 +11:00
kamilritz b8a3ed5f09 Update baro interface 2020-01-23 09:34:07 +11:00
kamilritz 74ec80cdc7 Update gps interface 2020-01-23 09:34:07 +11:00
Paul Riseborough a19c29e708 EKF: Rework yaw fusion to remove singularity at +-90 deg yaw 2020-01-23 09:23:56 +11:00
kamilritz 83b2abe434 protect against overflow 2020-01-21 10:09:48 +03:00
kamilritz 4be9ae8029 Compute the timestamp of average sample correctly 2020-01-21 10:09:48 +03:00
kamilritz 29c5954690 Move baro downsampling and dynamic pressure comp to ECL 2020-01-21 10:09:48 +03:00
kamilritz d7d7b56519 Move mag down sampling to ECL lib 2020-01-21 09:36:02 +03:00
bresch 0f4439d281 optical flow: inhibit flow fusion only when the terrain estimate gets invalid 2020-01-15 16:07:17 +11:00
bresch d06dc33ded range_finder_checks: do not override range_hgt_valid flag with rng_stuck flag 
Thif fixes the issue where the range finder data is always set to valid
if not stuck.
 2020-01-15 16:07:17 +11:00
bresch d0fe1f032a mag_fusion: re-introduce delay between mag reset and fusion, this was 
dropped during the mag fusion refactor PR #662
 2020-01-15 14:40:06 +11:00
Tom Wang 4044abdd20 fixed output state variable name state_variance to state_variances 2020-01-10 19:57:39 +05:30
kamilritz cd9e81539c Expand IMU Down Sampling tests 2020-01-09 19:43:29 +11:00
kamilritz de58ab9167 inline newly added function save 60Bytes 2020-01-09 19:43:29 +11:00
kamilritz be11516dd6 Refactor IMU downsampling into its own class 2020-01-09 19:43:29 +11:00
kamilritz c7e074276f Save flash space 
This commit saves roughly 400-500 Bytes in flash space
 2020-01-09 19:43:29 +11:00
kamilritz 94484f01ce save flash space 2020-01-08 14:36:03 +01:00
kamilritz 84dcb32bd8 Extend auxVel interface to support 3d velocity 2020-01-08 14:36:03 +01:00
kamilritz 07e8e88e88 Support full vision variance 2020-01-08 14:36:03 +01:00
kamilritz 4ab3dd50c9 pass Vector by const reference 2020-01-08 09:00:31 +01:00
kamilritz 2657e4fc0c Improve naming and white space 2020-01-08 09:00:31 +01:00
kamilritz 1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz deeac03d6a Clean up height reset logic booleans 2020-01-08 09:00:31 +01:00
kamilritz cec6d76577 Raise awareness for drag variance(!=stdDev) bug 2020-01-08 09:00:31 +01:00
kamilritz 0b18143745 Improve readibility 2020-01-08 09:00:31 +01:00