b29174d86b
Merge pull request #193 from PX4/pr-haglInit
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Pr hagl init
2016-10-04 08:21:15 +11:00
65762e5998
EKF: publish output predictor tracking errors
2016-10-03 14:13:07 +11:00
c81f9f1dba
EKF: Reduce output predictor tracking errors
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Implements a PI tracking loop
2016-10-03 14:13:07 +11:00
cc05db4985
terrain estimator: pass initialisation return value correctly
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-09-20 14:07:50 +02:00
7bc9217f00
EKF: Clean up control of observation fusion
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All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
2016-06-30 17:06:32 +10:00
2024252d65
Merge pull request #158 from CarlOlsson/act_ars_off_by_default
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activate tas fusion, off by default
2016-06-08 14:17:31 +10:00
34ffffa021
EKF: Prevent use of non time-stamped invalid data during initialisation
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Fixes bad height initialisation seen intermittently with snapdragon
2016-06-08 11:56:07 +10:00
eded0a8f7e
activate tas fusion, off by default
2016-06-07 13:49:17 +02:00
081e17729c
EKF: delay commencement of 3D mag fusion until clear of ground
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Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
2016-06-06 21:59:46 +10:00
81ca167da8
EKF: align output observer to EKF states on startup
2016-06-01 17:13:00 +10:00
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
2016-06-01 17:13:00 +10:00
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
2016-06-01 17:13:00 +10:00
65da9173b9
EKF: capture innovation checks and reset events in separate variables
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rename the innovation check status class variable and remove the reset flags from it.
2016-06-01 17:13:00 +10:00
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
2016-06-01 17:13:00 +10:00
aea827aa8a
EKF: ensure filter fault status is initialised
2016-06-01 17:13:00 +10:00
106482b078
EKF: add structure to capture innovation test failures and state resets
2016-06-01 17:13:00 +10:00
70c40d695d
EKF: Initialise alignment noise filters using valid data
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Don't initialise the states for the alignment data noise filters until the buffers have been flushed
2016-05-28 09:04:26 +10:00
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
2016-05-28 08:28:57 +10:00
98c0b74a71
EKF: Initialise height correctly when using external vision data
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If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
2016-05-27 13:59:14 +10:00
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
90d65071c1
EKF: Add output predictor processing option
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Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.
This may improve height controller performance under some circumstances
2016-05-23 07:47:10 +10:00
c8c2d6d963
Merge pull request #145 from CarlOlsson/small_fix
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Deleted second update of transformation matrix
2016-05-23 07:40:58 +10:00
0fafc49a49
fixed typos ( #147 )
2016-05-22 17:40:43 +02:00
eb70aca2e8
deleted second update of transformation matrix
2016-05-22 16:03:30 +02:00
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
2016-05-19 09:58:18 -06:00
e3b9800cac
Merge pull request #138 from pickledgator/evTesting
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EV testing
2016-05-19 12:56:41 +10:00
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
2016-05-18 19:25:19 +10:00
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
2016-05-18 19:25:19 +10:00
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
2016-05-17 21:07:04 -07:00
c955bfbf93
EKF: fix previous merge error
2016-05-15 20:36:51 +10:00
349c731375
EKF: remove PX4 dependant text output
2016-05-14 21:17:29 +10:00
cf1df5861a
Undid hack in ecl. Handled yaw missalignment on the vision side.
2016-05-14 21:17:29 +10:00
d16f413b55
Hack to fix external vision pos offset compensation
2016-05-14 21:17:29 +10:00
d3bad9fdb0
Correct height fusion flag when using sensor other than baro
2016-05-14 21:17:29 +10:00
b681c9a5d0
Added external vision noise parameters etc and position offset
2016-05-14 21:17:29 +10:00
ff8f03b5dd
Added compensation for VI sensor offset. Check sign.
2016-05-14 21:17:29 +10:00
e917d6c7f2
EKF: Add fusion of external yaw data
2016-05-14 21:17:29 +10:00
25f1d1d766
EKF: Add fusion of external vision 3D pos data
2016-05-14 21:17:29 +10:00
81469d6621
EKF: Add position, height and velocity reset for EV aiding
2016-05-14 21:17:29 +10:00
c7e225124c
EKF: Improve output observer position and velocity tracking
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Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
2016-05-14 12:45:29 +09:30
627d08ecc9
Revert "EKF: Fix bug in output observer"
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This reverts commit 03f3df7415
2016-05-14 12:26:46 +09:30
03f3df7415
EKF: Fix bug in output observer
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Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
2016-05-14 08:33:05 +09:30
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
2016-05-10 10:23:08 +10:00
0c6a367e1b
EKF: fix Travis build error
2016-05-07 17:45:49 +10:00
22f0f52bf1
EKF: fix travis build error
2016-05-07 17:06:45 +10:00
da9d894441
EKF: Improvements to covariance reset
2016-05-07 12:57:41 +10:00
f1b7e7714e
EKF: Make average update rate of EKF closer to target
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With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
2016-05-05 21:23:03 +10:00
5523a4f225
EKF: Fix IMU bias compensation scale error in output filter
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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
2016-05-05 21:23:03 +10:00
727a43764f
EKF: update initial angle alignment check
2016-05-05 21:23:03 +10:00
ffea65e1a4
EKF: fix bug in state prediction
2016-05-05 21:23:03 +10:00
Paul Riseborough