Roman Bapst
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
Lorenz Meier
cd5857e900
Add vibration magnitude estimation
2016-02-25 16:54:24 +01:00
Paul Riseborough
5483e7a477
Merge pull request #60 from PX4/pr-ReduceMagModeSwitchKick
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EKF: Fix Bug Causing Roll/pitch Disturbances On Mag Fusion Mode Switch
2016-02-25 09:42:18 +11:00
Paul Riseborough
f55a0bff53
EKF: Fix code style
2016-02-25 08:17:50 +11:00
Paul Riseborough
5b5bddebea
EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode
2016-02-25 08:16:42 +11:00
Paul Riseborough
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
2016-02-25 08:16:42 +11:00
Paul Riseborough
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
2016-02-25 08:16:42 +11:00
Paul Riseborough
e938475acc
Merge pull request #59 from PX4/pr-ImprovedStartup
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Improvements to EKF startup - partially replaces PR#57
2016-02-24 18:27:12 +11:00
Paul Riseborough
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
2016-02-24 12:06:11 +11:00
Paul Riseborough
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
2016-02-24 11:56:12 +11:00
Paul Riseborough
016695fc3e
EKF: Reduce startup transients
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Update initial state variance values
2016-02-24 11:48:42 +11:00
Siddharth Bharat Purohit
9c7a3f366c
Merge pull request #54 from mcsauder/master
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Address C99 compatibility issues by relocating variable initialization. - Replaces PR#50
2016-02-23 15:53:04 -08:00
mcsauder
6613335937
Added constexpr back from const var type.
2016-02-23 16:15:52 -07:00
mcsauder
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
2016-02-23 15:52:02 -07:00
mcsauder
48e80e9e3e
Correct C style array initialization.
2016-02-23 15:16:40 -07:00
mcsauder
f9f00fa52b
Remove unnecessary include.
2016-02-23 14:00:39 -07:00
mcsauder
ccb5736353
Spaces to tab.
2016-02-23 19:58:30 -07:00
mcsauder
a4cecb1704
Match variable initialization order difference with upstream.
2016-02-23 19:57:27 -07:00
mcsauder
79d07c831f
Convert spaces to tabs to match upstream.
2016-02-23 19:53:55 -07:00
mcsauder
6c96f45f08
Remove whitespace differences with upstream for pull request.
2016-02-23 19:49:27 -07:00
mcsauder
fad1c87631
Merge upstream and resolve merge conflicts.
2016-02-23 19:29:30 -07:00
Siddharth Bharat Purohit
237ecfef1a
Add travis build check badge
2016-02-22 23:49:58 -08:00
Roman Bapst
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
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Shared Library build
2016-02-23 08:30:46 +01:00
Paul Riseborough
35865048a2
Merge pull request #55 from PX4/pr-FixYawFusionBug
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Fix bug in heading fusion and add new method for ground/indoor use
2016-02-21 09:41:18 +11:00
Paul Riseborough
70a3b91217
EKF: Update magnetometer fusion derivations
2016-02-20 20:09:15 +11:00
Paul Riseborough
a711632017
EKF: Add method to fuse horizontal magnetometer data
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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
mcsauder
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
Paul Riseborough
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
Paul Riseborough
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
Paul Riseborough
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
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Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
Paul Riseborough
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
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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
mcsauder
72243c4a84
Resolve tab/space differences with upstream master.
2016-02-18 03:28:40 -07:00
mcsauder
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
2016-02-18 03:21:04 -07:00
Lorenz Meier
2b2c490382
Validator: Add function for 1D use of the 3D validator
2016-02-18 09:31:36 +01:00
bugobliterator
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
2016-02-17 20:02:08 -08:00
bugobliterator
80632cc12c
EKF: add comments and licensing information to builder files
2016-02-17 19:55:47 -08:00
bugobliterator
e65c348905
EKF: add travis build
2016-02-17 18:51:40 -08:00
bugobliterator
a40eb7cf37
EKF: add check for existence of matrix submodule
2016-02-17 17:51:09 -08:00
Siddharth Bharat Purohit
64a7b14171
update readme to include steps to build EKF shared object
2016-02-17 17:46:48 -08:00
bugobliterator
cba5271785
add matrix submodule
2016-02-17 17:38:21 -08:00
bugobliterator
2f05f778de
ignore build directory
2016-02-17 17:34:28 -08:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
Paul Riseborough
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
Roman Bapst
678d6f45cc
Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix
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EKF: fix time of sample receive setting
2016-02-17 22:34:30 +01:00
bugobliterator
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
Paul Riseborough
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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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
Paul Riseborough
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
Paul Riseborough
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
Paul Riseborough
294aca8609
EKF: Improve variance limiting for stationary states
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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
Paul Riseborough
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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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
