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Author SHA1 Message Date
Daniel Agar
99aafbaa18
README: remove obsolete build status 2020-09-14 12:04:42 -04:00
Daniel Agar
fab242a81f python generation add shebang, mark executable, ignore cache 
- commit all current generated files
 2020-09-07 09:20:41 +02:00
rjgritter
a204c59990
WindEstimator: Fix incorrect _state accessing, clarify enums (#906) 2020-09-05 08:48:51 +02:00
bresch
264c8c4e86 mag_fusion: mag heading and 3d modes are mutually exclusive 
There is no need to check if 3d fusion is active when in mag heading
fusion mode since this is impossible
 2020-08-27 15:48:40 +10:00
kamilritz
9797e4d28f updateYawInRotMat with hidden rotation sequence handling 2020-08-27 09:51:56 +10:00
kamilritz
419b70e4b5 Add tests for shouldUse321RotationSequence 2020-08-27 09:51:56 +10:00
kamilritz
4fb4e0ca01 Clean euler321 and euler312 code and comment 2020-08-27 09:51:56 +10:00
Kamil Ritz
2be738e806 Add helper function to alter heading in rotation matrices 2020-08-27 09:51:56 +10:00
Kamil Ritz
fdc86c247a add functions to compute yaw (321 and 312 sequence) 
from quaternion and rotation matrix
 2020-08-27 09:51:56 +10:00
Kamil Ritz
15afa8ae17 shouldUse321RotationSequence(const Dcmf& R) 2020-08-27 09:51:56 +10:00
Kamil Ritz
4872f2a545 Remove not used code 2020-08-24 19:24:27 +10:00
Kamil Ritz
0fafd4d68b precompute cos and sin of yaw once before mutliple use 2020-08-24 19:24:27 +10:00
Kamil Ritz
114516b784 Use new added matrix functions 2020-08-24 19:24:27 +10:00
Kamil Ritz
1f637af7de Add const modifier 2020-08-24 19:24:27 +10:00
kamilritz
aa2c77f92d Small cleanup in velposfusion 2020-08-24 18:04:57 +10:00
kamilritz
644e903552 Apply measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz
404edde7f3 Add measurementUpdate function 2020-08-24 18:04:57 +10:00
kamilritz
f6252ff533 small cleanup in limitDeclination 2020-08-24 18:04:57 +10:00
Daniel Agar
f62662ee46 update change_indication for newer WMM tables 2020-08-21 16:54:45 -04:00
PX4 BuildBot
802a6d99a0 Update geo_lookup WMM to latest Fri Aug 21 11:48:14 UTC 2020 2020-08-21 16:54:45 -04:00
kamilritz
bd0c5fbb97 Update change indication for ekf gsf 2020-08-20 22:16:28 +02:00
kamilritz
3ae934544f Add change indication for ekf_gsf_reset 2020-08-18 17:13:46 +10:00
Paul Riseborough
fd849e0578 EKF: Fix specific force observation noise variance 
Also add protection for out of range value.
 2020-08-18 17:05:59 +10:00
Paul Riseborough
76f393dcb0 EKF: Use const reference instead of local copy 2020-08-18 17:05:59 +10:00
Paul Riseborough
c43307b8cf EKF: convert drag fusion from Matlab to SymPy generated auto-code 2020-08-18 17:05:59 +10:00
Paul Riseborough
1e6c6f2d3c EKF: update all output states when aligning output time horizon filter 2020-08-16 10:00:47 +10:00
kamilritz
3bd9415498 Make delayed output stayed not a member variable 2020-08-16 10:00:47 +10:00
kamilritz
da9bfe4316 Update interface of applyCorrectionsToOuputStates 2020-08-16 10:00:47 +10:00
Paul Riseborough
64ab2b087a EKF: Only record successful sideslip fusion when states updated 2020-08-16 08:45:59 +10:00
Paul Riseborough
0fa7ef3517 EKF: Use ecl::powf for integer exponents 2020-08-16 08:45:59 +10:00
Paul Riseborough
168dbdf630 EKF: Convert sideslip fusion to use SymPy generated auto-code 2020-08-16 08:45:59 +10:00
Paul Riseborough
06aa78a291 EKF: Only record airspeed fusion event when states are updated 2020-08-16 08:45:26 +10:00
Paul Riseborough
486a461a5e EKF: airspeed fusion derivation test comparison cleanup 2020-08-16 08:45:26 +10:00
Paul Riseborough
ede6204f85 EKF: airspeed fusion cleanup 2020-08-16 08:45:26 +10:00
Paul Riseborough
a5a43dbc6c EKF: Convert airspeed fusion to use SymPy generated auto-code 2020-08-16 08:45:26 +10:00
Paul Riseborough
5907e81ef7 EKF: optflow fusion cleanup 2020-08-16 08:44:17 +10:00
Paul Riseborough
7fa9a1963b EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseborough
0e74f3ea9d EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseborough
6e992a18f6 EKF: optflow fusion cleanup 
Co-authored-by: kritz <kritz@ethz.ch>
 2020-08-16 08:44:17 +10:00
Paul Riseborough
1ad042da23 EKF: Use ecl::powf in comparison test 2020-08-16 08:44:17 +10:00
Paul Riseborough
274523bd98 EKF: Use ecl::powf for integer exponents 2020-08-16 08:44:17 +10:00
Paul Riseborough
f20a5d814d EKF: Remove redundant tilt check 
Also fix comment indent
 2020-08-16 08:44:17 +10:00
Paul Riseborough
1592db8f34 EKF: Convert optical flow fusion to use SymPy generated equations 2020-08-16 08:44:17 +10:00
Paul Riseborough
1f386c1bb8 EKF: Add yaw estimate SymPy generated code files 2020-08-16 08:43:29 +10:00
Paul Riseborough
510d93858f EKF: move yaw estimator derivation into main filter derivation 
Enables use of common components
 2020-08-16 08:43:29 +10:00
Paul Riseborough
f89c52e840 EKF: use ecl::powf for integer exponents 2020-08-15 08:40:59 +10:00
Paul Riseborough
0aa2f17562
EKF: Convert GPS yaw observation method to use SymPy generated code (#880) 
* EKF: add test comparison program for GPS yaw fusion equations

* EKF: convert GPS yaw fusion method to use SymPy generated equations

* Replace if/else with simple if

* EKF: fix formatting of GPS yaw fusion auto-code comparison test

* EKF: Use  SparseVector type for GPS yaw fusion Jacobians

* EKF: Fix bug in GPS yaw derivation comparison check

* Add gps_yaw auto generated code file

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-13 13:23:57 +10:00
Paul Riseborough
21cc46edd7
EKF: Convert magnetic field observation methods to use SymPy generated code (#879) 
* EKF: Add comparison test for mag field fusion generated code

* EKF: convert mag field fusion to use SymPy generated code

* EKF: Add test comparison program for yaw fusion equations

* Stop setting 0 to 0

* Reduce if/else statement to only if

* EKF: more accurate implementation for sequential fusion of magnetometer data

* test: update change indicator

* Use matrix::SparseVector<float, 24, ...> for observation jacobian

* Adapt the auto code generation to allow for different bracket styles

* Add auto generated code for mag fusion

* Add generic computation of KHP

* Apply generic computation of KHP to mag fusion

* tests: update change indicator

* tests: update change indicator

Co-authored-by: kamilritz <kritz@ethz.ch>
 2020-08-11 18:57:22 +10:00
kamilritz
ec93490890 geo test change to arc length 2020-08-10 22:15:43 +02:00
kamilritz
98dec6afa6 add tests for waypoint_from_line_and_distance() 2020-08-10 22:15:43 +02:00