89bcebd631
EKF: Prevent covariance initialisation overwriting yaw variance
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Also typo fix
2020-02-05 15:20:34 +01:00
a3347b7e06
EKF: Use more conservative value for delta velocity bias process noise
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Smaller values have resulted in bias estimation divergence under some conditions
2020-02-05 15:20:34 +01:00
21054a4236
EKF: Fix bug causing incorrect covariance initialisation
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The covariance initialisation should not be performed before the quaternion states are initialised.
2020-02-05 15:20:34 +01:00
ed260c4f1d
validation: remove unused vibration metric
2020-02-04 23:37:05 -05:00
e52e2b88ed
Sensor Replay ( #717 )
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* Add primitive logging for Ekf
* Add python script to extract sensor data from ULog
* Add primitive sensor replay
* Add iris_gps data for sensor replay
* Add CI for functional change indication
* Update sensor replay flow data type
* update iris_gps_change indication
* test: Update EKF replay test documentation
Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com >
2020-02-01 20:41:12 +11:00
da752c9e30
Hot flow fusion fix
2020-01-28 17:19:51 +01:00
ee859e092a
Robustify timestamp checks ( #729 )
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* 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
f20726d47f
Expand auto-format coverage and tiny style changes
2020-01-27 16:54:25 +01:00
fbdd75da2e
Update CONTRIBUTING.md
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Co-Authored-By: Roman Bapst <bapstroman@gmail.com >
2020-01-27 10:42:17 +03:00
5d38b73072
Update description of Firmware build tests
2020-01-27 10:42:17 +03:00
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
a3e1eb9d50
Checkout to matching firmware if possible
2020-01-24 16:18:42 +03:00
f3d790a664
Update optical flow interface
2020-01-24 16:18:42 +03:00
cafb1400fb
estimator_interface: bugfix, set range sample correctly
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-01-24 13:03:04 +01:00
df37c9bf1d
First draft of the contribution guidelines
2020-01-24 09:31:49 +01:00
4b0e7b2cff
Remove filtering on external vision alignment
2020-01-24 08:23:12 +01:00
2fe16c4ffe
Update build instructions in readme
2020-01-24 09:03:48 +03:00
d63e4edfd8
Fix github actions
2020-01-23 16:31:42 +01:00
de33885658
Update setExtVisionData interface
2020-01-23 14:50:43 +01:00
ed916c8006
Auto Formatting with clang-format-6.0 ( #727 )
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* Add clang-format
* Auto-format AlphaFilter and RingBuffer
* Update to tab=8spaces
* Allow for 120 width
2020-01-23 20:56:10 +11:00
dbf0bd43e8
EKF: update wind covariance initialization
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2020-01-23 10:27:54 +11:00
37201fb071
Remove legacy imu interface
2020-01-23 09:34:07 +11:00
7c3a2f839b
Update range finder interface
2020-01-23 09:34:07 +11:00
4fb2d1b02e
Update range finder interface
2020-01-23 09:34:07 +11:00
9f0d8ed59e
Update mag interface
2020-01-23 09:34:07 +11:00
856961ba85
Update airspeed interface
2020-01-23 09:34:07 +11:00
b8a3ed5f09
Update baro interface
2020-01-23 09:34:07 +11:00
74ec80cdc7
Update gps interface
2020-01-23 09:34:07 +11:00
a19c29e708
EKF: Rework yaw fusion to remove singularity at +-90 deg yaw
2020-01-23 09:23:56 +11:00
fc7e8b848b
Run github actions also on PRs from forks
2020-01-22 09:47:19 +01:00
29cf7884c3
Test baro downsampling
2020-01-21 10:09:48 +03:00
b51ea4fe39
Test dynamic pressure compensation
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(cherry picked from commit b3d9334b5abe02f1d123519cfc74a875225eb0bd)
2020-01-21 10:09:48 +03:00
83b2abe434
protect against overflow
2020-01-21 10:09:48 +03:00
4be9ae8029
Compute the timestamp of average sample correctly
2020-01-21 10:09:48 +03:00
29c5954690
Move baro downsampling and dynamic pressure comp to ECL
2020-01-21 10:09:48 +03:00
d7d7b56519
Move mag down sampling to ECL lib
2020-01-21 09:36:02 +03:00
950e75e484
EKF_ringbuffer: minor missing space for style
2020-01-18 13:00:36 -05:00
26125c245d
Switch from jenkins to github actions
2020-01-17 11:02:57 -05:00
011b4c2e4e
data_validator_group: add a method to get the state of the sensor with the provided index
2020-01-15 12:20:47 -05:00
0f4439d281
optical flow: inhibit flow fusion only when the terrain estimate gets invalid
2020-01-15 16:07:17 +11:00
d06dc33ded
range_finder_checks: do not override range_hgt_valid flag with rng_stuck flag
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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
d0fe1f032a
mag_fusion: re-introduce delay between mag reset and fusion, this was
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dropped during the mag fusion refactor PR #662
2020-01-15 14:40:06 +11:00
250d5b8acc
TECS: remove height rate complementary filter
2020-01-15 14:28:36 +11:00
8f70a10565
Added missing variable initializations
2020-01-14 15:16:25 +03:00
5b02310f43
Test Airspeed fusion
2020-01-14 15:16:25 +03:00
7ed6a437c7
Add airspeed sensor to sensor_simulator
2020-01-14 15:16:25 +03:00
4044abdd20
fixed output state variable name state_variance to state_variances
2020-01-10 19:57:39 +05:30
cd9e81539c
Expand IMU Down Sampling tests
2020-01-09 19:43:29 +11:00
de58ab9167
inline newly added function save 60Bytes
2020-01-09 19:43:29 +11:00
be11516dd6
Refactor IMU downsampling into its own class
2020-01-09 19:43:29 +11:00
Paul Riseborough