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Author SHA1 Message Date
kamilritz
97225fcb74 Use matrix lib inside getState 2020-07-02 09:02:24 +02:00
kamilritz
16a00eae0b Make Kfusion a Vector24f 2020-07-02 09:02:24 +02:00
kamilritz
356b2f6ffe Stop setting zero to zero 2020-07-02 09:02:24 +02:00
kamilritz
552bf824ea Add typedef for Matrix 24 types 2020-07-02 09:02:24 +02:00
kamilritz
5356077a32 Make flow_innov/-var a matrix Vector2f 2020-06-26 08:26:26 +02:00
kamilritz
c2801eb488 Add const modifier and increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz
d9afc2f1e8 Remove repeated division by same value 2020-06-26 08:26:26 +02:00
kamilritz
d16b43a2da Get rid of non functional piece of code 2020-06-26 08:26:26 +02:00
kamilritz
c3653e68ca Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz
48f0eb16da Remove uninformative comments 2020-06-26 08:26:26 +02:00
kamilritz
4a69b41015 Increase matrix library usage even more 2020-06-26 08:26:26 +02:00
kamilritz
630be60930 Increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz
22274b1d30 Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz
61c139ea95 Remove unused variable 2020-06-26 08:26:26 +02:00
kamilritz
afd4f3f86b Fix typo 2020-06-26 08:26:26 +02:00
kamilritz
a3706fdcef Make relative wind computation more compact 2020-06-26 08:26:26 +02:00
kamilritz
b8f937666a Make mag_innov/-var a Matrix::Vector3f 2020-06-26 08:26:26 +02:00
Kamil Ritz
0ea7cd8360 Attempt to fix CI firmware build test 2020-06-26 07:38:25 +02:00
Daniel Agar
2927132954 clang-format set BreakBeforeBraces to Linux style 
- this keeps things consistent with PX4/Firmware astyle
 2020-06-25 13:23:52 -04:00
sevenbill
b96c62ed8b
Optionalized build dependency on git 
Signed-off-by: Bill Morris <bill@sevendof.com>
 2020-06-25 08:56:26 -04:00
Bill Morris
794e6ec3a5 Enforce tabs via editorcofig 2020-06-25 08:55:21 -04:00
PX4 BuildBot
e4b44f704b Update geo_lookup WMM to latest Tue Jun 23 14:15:04 UTC 2020 2020-06-23 10:41:59 -04:00
bresch
4b746a3fca GPS Yaw: add consts and remove fusion starting message 
The fusion status is captured in the status flags; the message is
superfluous, uses flash space and can impact real-time performance
 2020-06-23 08:43:48 +02:00
bresch
2bafe9df08 GPS Yaw: wait to fuse at yaw at least once before declaring it faulty 
This fixes the cases where the yaw message from the GNSS receiver would
take more time than the vel/pos. The estimator should wait and not
immediately fall back to an other aiding source after 5sec.
If it never comes, it will never fall back, but this is ok since the
user wants to fly with GPS aiding an not with something else.
 2020-06-23 08:43:48 +02:00
bresch
51cd63d626 GPS Yaw: fall back to other yaw aiding source in case of bad data 
If the user selects GPS yaw fusion but that there is no GPS yaw data in
the GPS message or if the fusion is rejected for some time, the GPS yaw
data is declared faulty and the fusion is stopped to allow an other
source of yaw aiding to start.
 2020-06-23 08:43:48 +02:00
bresch
fe2a9d3018 GPS Yaw: move isfinite checks in control.cpp 2020-06-23 08:43:48 +02:00
bresch
3c6790f5d5 GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting 
Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
 2020-06-23 08:43:48 +02:00
kamilritz
ff8b5ec69d Extract general functions into utils 2020-06-23 08:18:34 +02:00
Daniel Agar
fda30d8cec geo_lookup: expand latitude to +-80 degrees 2020-06-22 09:45:22 -04:00
Daniel Agar
109eca5200 geo_lookup: create simple python script to update tables 2020-06-22 09:45:22 -04:00
Daniel Agar
41b9e4f628 geo_lookup: move tables to separate file 2020-06-22 09:45:22 -04:00
Daniel Agar
a8bb8ea99f move TECS, L1, and validation to PX4/Firmware 2020-06-18 18:48:36 -04:00
Matthias Grob
a296fe7d8c Move AlphaFilter out of EKF 2020-06-15 13:07:51 -04:00
Matthias Grob
daec5ae608 AlphaFilter: replace isfinite with positive denominator check 2020-06-15 13:07:51 -04:00
Kamil Ritz
e835bc34c4 remove inline modifier 2020-06-12 15:11:16 +02:00
Kamil Ritz
74780aa512 Refactor gps fusion commencing 2020-06-12 15:11:16 +02:00
Matthias Grob
38cbd1a182 AlphaFilter: prevent setParameters division by zero 2020-06-09 16:32:24 -04:00
RomanBapst
b7d54b5477 gps: fixed filter initialization bug around gps 
- do not gps reference altitude to zero in case gps checks pass before the
filter initialized
- reset the filtered gps position and position derivative filters in case
we are in air or there is movement on the ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-08 16:19:38 +02:00
bresch
8f533cb878 terrain_estimator: fix sensor aid selection 2020-06-05 20:44:30 +02:00
bresch
821e1fa8fc terrain_estimator: add unit tests 2020-06-05 20:44:30 +02:00
bresch
aa96fa6d9e Random style fixes in the code 2020-06-05 20:44:30 +02:00
bresch
5d6a72e383 sensor_simulator: add possibility to set GPS position rate 
one can set the position rate = velocity to obtain consistent gps data
 2020-06-05 20:44:30 +02:00
Roman Bapst
b3dc06d0cb Added height above ground source bitmask indicating which sensor is used 2020-06-04 09:44:19 +02:00
bresch
62e15cbacf sensor_simulator: set IMU rate to 200Hz as this is the new value 
used in the Firmware
 2020-06-03 17:09:20 +02:00
bresch
6126c190b2 sensor_simulator: update EKF at IMU rate 
This is how it is also done in ekf2_main. Otherwise, this leads to
multiple integration of the same IMU data due to asynchronous sensor
updates triggering a prediction step between IMU updates.

Fix unit tests that broke because of this fix
 2020-06-03 17:09:20 +02:00
Paul Riseborough
59183f70ba
EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831) 
* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors

* Update EKF/ekf_helper.cpp

* EKF: Fix comment typo

Co-authored-by: Roman Bapst <bapstroman@gmail.com>

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2020-06-02 17:42:54 +10:00
Matthias Grob
d0ddda8917 tecs: fix typo init(i)alized 2020-05-29 20:03:22 +03:00
Kamil Ritz
86fc94b75a Remove tilt align from position innovation check 2020-05-25 11:12:24 +02:00
Mathieu Bresciani
b024cdd282
unit test: check that the accel bias is only learned when observable (#827) 2020-05-25 11:10:01 +02:00
Paul Riseborough
c91c78dcf6 EKF: Allow reset of yaw to EKF-GSF later in flight 2020-05-22 13:05:10 +03:00