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309 Commits 852 Branches 161 Tags
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76 Commits

Author SHA1 Message Date
Roman Bapst
99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough
8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough
163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough
2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough
5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough
e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
48b105b748 EKF: correct range finder data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
eaf94935f0 EKF: Fix bug in initialisation of height and magnetic field 
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
 2016-04-05 22:23:37 +02:00
Roman Bapst
27b894540e put airspeed fusion logic but don't actually call it yet 2016-03-30 17:01:03 +02:00
CarlOlsson
f5a9afd278 moved init 2016-03-30 17:01:03 +02:00
CarlOlsson
4301e1105b added commas 2016-03-30 17:01:03 +02:00
CarlOlsson
0918fa04c7 adopted ekf.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson
0fb1e0578b added function for fusing airspeed 2016-03-30 17:01:03 +02:00
Paul Riseborough
c23d72ba29 EKF: Ensure filter control modes are correctly initialised 2016-03-16 17:22:27 +11:00
Paul Riseborough
9f3b1351f7 EKF: Don't initialise velocity to GPS on initial alignment 
For initial alignment the velocity and position should start at zero
 2016-03-16 17:20:57 +11:00
Paul Riseborough
e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough
6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough
63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough
49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa EKF: Don't start the output observer before the main filter has initialised 
This prevents the possibility of output transients if alignment is delayed.
 2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Paul Riseborough
cc5512905a EKF: prevent optical flow, GPS and baro fusion from blocking each other 2016-03-11 11:03:43 +11:00
Paul Riseborough
ffebaf384f EKF: Set initial optical flow fusion monitor outputs to zero 2016-03-11 11:03:43 +11:00
Paul Riseborough
d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough
d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
mcsauder
5fb48a2e7b Merge remote-tracking branch 'upstream/master' 2016-02-25 22:51:58 -07:00
mcsauder
5fec0df70d Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization. 2016-02-25 22:51:14 -07:00
Paul Riseborough
36affe3cd8 EKF: Fix bug causing incorrect initial roll when inverted 2016-02-24 11:56:12 +11:00
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
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
Paul Riseborough
a711632017 EKF: Add method to fuse horizontal magnetometer data 
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
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
Paul Riseborough
c089079321 EKF: Split tilt and yaw align 2016-02-14 22:01:53 +01:00
Paul Riseborough
aa58b3e98c EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function 2016-02-14 22:01:53 +01:00
Roman
ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough
9d7340e187 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-14 09:49:26 +01:00
Paul Riseborough
da1de2cc4d EKF: Correct for sensor noise and baro offset during alignment 2016-02-14 09:49:26 +01:00
Paul Riseborough
fff2bd50f6 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-10 15:16:05 +11:00
Paul Riseborough
40e174b81c EKF: Correct for sensor noise and baro offset during alignment 2016-02-10 10:25:27 +11:00
Paul Riseborough
47ab5ebcdd EKF: Make PR comply with project convention for indenting 2016-02-08 15:12:38 +11:00
Paul Riseborough
dbb8e12948 EKF: Add fusion method to constrain declination when unobservable 
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the  field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
 2016-02-08 14:18:43 +11:00