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1,298 Commits 852 Branches 161 Tags
9b4b24ee71902c6a4289170e8fb1ca3306c1d9c4
Commit Graph
208 Commits
Author SHA1 Message Date
RomanBapst 6299d8199c ekf_helper: use latest validated range sample to reset height 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-10-24 07:55:37 +11:00
Paul Riseborough 4d37065f1b EKF: Make use of inverse rotation function consistent with name 
The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
 2019-10-23 14:44:08 +03:00
Paul Riseborough 36de2b3dc1 EKF: Use matrix library for quaternion to rotation matrix conversion 2019-10-23 14:44:08 +03:00
bresch b38458c2ab Terrain estimator: formatting and remove redundant comments 2019-10-22 20:19:56 +11:00
kritz 4a38f5a2f6 Add timestamp to ECL print statements, (#644) 
which is helpful for EKF replay debugging.
 2019-09-25 11:24:42 +02:00
kamilritz fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz cea053820d Remove spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz 1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz 10cbd79db7 Rotate external vision info in reset function if necessary 2019-09-24 07:48:46 +10:00
kamilritz 4511b9ff5e Add missing checks for flags.ev_vel 2019-09-24 07:48:46 +10:00
kamilritz 3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
kamilritz c5abfe626f remove canonicalize and adapt comments 2019-08-29 08:34:10 +10:00
kamilritz a2ff415fe4 Fix get frame aligning quaternion function 2019-08-29 08:34:10 +10:00
kamilritz 53eac6e94e Canonicalize alignment quaternion 2019-08-29 08:34:10 +10:00
kamilritz 933c32c921 Enable local frame alignment also without using it 2019-08-29 08:34:10 +10:00
kamilritz ea352a6631 Dont use mag suffix for magnitude 2019-08-29 08:34:10 +10:00
kamilritz 05196db79e Fix alignment of local frame 2019-08-29 08:34:10 +10:00
Paul Riseborough a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00
Paul Riseborough 0e946f25fd EKF: Remove use of quaternion self product operator and fix delta rotation sign error 2019-06-17 19:24:55 +10:00
CarlOlsson ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
Roman cef2ba5ab9 implemented Kahan summation algorithm for adding process noise to delta 
angle- and delta velocity bias variance

- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-06-11 19:28:06 +10:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Paul Riseborough fabd216ca5 EKF: Documentation edits 2019-03-13 08:14:23 +11:00
CarlOlsson 8d6e8ae078 EKF: update get_mag_decl_deg() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 2b17ced405 EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-13 08:14:23 +11:00
CarlOlsson 1d91785a8e EKF: correct quaternion order 2019-03-12 19:07:55 +11:00
CarlOlsson 96c5c14041 EKF: Change the EKF initialization to 
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 6cf512f103 EKF: Also update the newest and oldest quaternion estimate in 
alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 78122b20a6 EKF: fix the rotation direction of the buffered attitude solutions 
in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
CarlOlsson 37339de57c EKF: remove unused variable 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-12 19:07:55 +11:00
Nuno Marques 4e0e68e905 Ekf: add more useful methods to interface with the covariances (#543) 2019-03-09 11:57:35 -05:00
Paul Riseborough bd1647a7fb EKF: Rework use of fuseDeclination() 
Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
 2019-01-31 09:53:57 -05:00
Paul Riseborough d52f53635b EKF: Save mag field covariance data before reset 2019-01-31 09:53:57 -05:00
Paul Riseborough 708c79eb8f EKF: Ensure mag field state covariance data is always available for re-use 
Prevents use of  _saved_mag_ef_covmat and _saved_mag_bf_variance before being initialised or when stale.
 2019-01-31 09:53:57 -05:00
Paul Riseborough 25148e1b45 EKF: Prevent rapid changes in declination estimate after a reset 
Ensures that each time the earth field covariance and variance data is reset, that the off-diagonal elements containing earth field declination angle certainty is restored.
 2019-01-31 09:53:57 -05:00
CarlOlsson 6e7c119b31 EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
CarlOlsson 0896f7b9bd EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance() 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-31 09:53:57 -05:00
Paul Riseborough 911d4d8f49 EKF: Fix sign error in increaseQuatYawErrVariance function 2019-01-31 09:53:57 -05:00
Paul Riseborough ef5a87c1d4 EKF: Rework quaternion yaw reset. 
Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
 2019-01-31 09:53:57 -05:00
Paul Riseborough fc2a089823 EKF: Add function to un-correlate quaternion states 
This is necessary after a quaternion reset to prevent incorrect attitude corrections with subsequent observation fusions.
 2019-01-31 09:53:57 -05:00
Paul Riseborough bce1b96d17 EKF: Add function enabling yaw variance to be increased 2019-01-31 09:53:57 -05:00
Daniel Agar a5e6191ba7 EKF add clarity brackets to avoid potential confusion 
- fixes https://github.com/PX4/ecl/issues/555
 2019-01-30 09:15:53 -05:00
CarlOlsson 490888285d EKF: Remove flag prefix 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
CarlOlsson d223680197 EKF: add flt_mag_align_complete to control_status flags 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-01-13 23:48:46 +01:00
Paul Riseborough c032126745 EKF: Fix bug causing incorrect yaw variance value to be used 
This bug causes the variance of the Z axis rotation vector uncertainty to not be reset to the correct value.
 2019-01-04 11:01:06 +01:00
CarlOlsson 1a969aed07 EKF: use low pass filtered mag measurements for heading initialization 2018-12-05 10:08:11 +01:00
Paul Riseborough c49ab760c7 EKF: Allow EKF to start without using mag data when not using earth frame data 2018-11-15 09:03:03 +11:00
Paul Riseborough acde4ebcc3 EKF: fix comment 2018-11-15 07:16:31 +11:00
Paul Riseborough 4657a9cd21 EKF: Ensure yaw gets reset when declination is set 2018-11-15 07:16:31 +11:00