9ec09f5f4e
EKF: update output observer and capture reset event for magnetic heading resets
2016-06-01 17:13:00 +10:00
2b0d5c28f0
EKF: capture full quaternion change for reset events
2016-06-01 17:13:00 +10:00
b2e432e211
EKF: publish position and velocity reset data
2016-06-01 17:13:00 +10:00
733862f649
EKF: move the reset status struct to the Ekf class
...
This protects it from being modified externally
2016-06-01 17:13:00 +10:00
aca0336392
EKF: update vertical position and velocity reset capture
...
Use reset event struct members instead of separate variables
2016-06-01 17:13:00 +10:00
0605c88ecc
EKF: capture horizontal position reset events
2016-06-01 17:13:00 +10:00
e3a1b4a3b3
EKF: capture velocity reset events
2016-06-01 17:13:00 +10:00
4237269fab
EKF: add struct to capture state reset events
2016-06-01 17:13:00 +10:00
65da9173b9
EKF: capture innovation checks and reset events in separate variables
...
rename the innovation check status class variable and remove the reset flags from it.
2016-06-01 17:13:00 +10:00
79705da7e6
EKF: make output predictor states consistent with position reset
2016-06-01 17:13:00 +10:00
54d90261d5
EKF: make output predictor states consistent with velocity reset
2016-06-01 17:13:00 +10:00
52229da089
EKF: capture optical flow innovation test failures
2016-06-01 17:13:00 +10:00
d80e71a499
EKF: capture HAGL innovation test failures
2016-06-01 17:13:00 +10:00
8125717bf5
EKF: remove un-used airspeed health class variable
...
Airspeed rejection now is captured in _sensor_fault_status
2016-06-01 17:13:00 +10:00
388e500180
EKF: remove un-used magnetometer health class variable
...
replaced by _sensor_health_status
2016-06-01 17:13:00 +10:00
cf489f4248
EKF: capture airspeed innovation test failures
2016-06-01 17:13:00 +10:00
e7690bd8f8
EKF: capture magnetometer innovation test failures
2016-06-01 17:13:00 +10:00
3fb449295e
EKF: capture yaw innovation test failures
2016-06-01 17:13:00 +10:00
52f6eea52b
EKF: capture position and velocity innovation test failures
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
...
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
ad02818b3d
EKF: Improve height reset for external vision
...
reset to measurement closest in time to fusion time horizon
2016-05-27 14:00:50 +10:00
98c0b74a71
EKF: Initialise height correctly when using external vision data
...
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
9f81b8f09e
EKF: provide reset protection for external vision height
2016-05-27 13:15:53 +10:00
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
00bada8f25
EKF: Clean up logic for horizontal position fusion
...
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
2016-05-27 11:29:10 +10:00
6f412a73b4
EKF: Use correct height gate when using external vision
2016-05-27 11:24:53 +10:00
e41524ac9d
EKF: remove unused variables
2016-05-27 11:21:04 +10:00
7dd123094f
EKF: correct documentation
2016-05-26 21:42:56 +10:00
d5b5cb5899
EKF: improvements to observation collection
...
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
2016-05-26 13:27:08 +10:00
e2d9e19a5d
Merge pull request #148 from PX4/pr-ekf2OutputPredictor
...
EKF2 provide alternative output velocity prediction
2016-05-24 08:46:33 +10:00
5a40aa2c1a
EKF: prevent unwanted GPS use
2016-05-24 07:55:09 +10:00
90d65071c1
EKF: Add output predictor processing option
...
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
30917430e2
EKF: inline ring buffer functions used repeatedly
...
These functions get called 30 times each per output prediction cycle
2016-05-23 07:43:59 +10:00
c8c2d6d963
Merge pull request #145 from CarlOlsson/small_fix
...
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
dbe2513d48
updated logic of calculation of body field variance ( #146 )
2016-05-22 17:39:25 +02:00
eb70aca2e8
deleted second update of transformation matrix
2016-05-22 16:03:30 +02:00
ae5071f668
EKF: Improve heading reset
...
Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
2016-05-21 19:30:15 +10:00
a9ca8c294c
Generalized isfinite() in similar form as done in ekf.cpp https://github.com/PX4/ecl/blob/e3b9800cac459e7c279395c18191a872f465f848/EKF/ekf.cpp#L45-L52
2016-05-19 10:34:16 -06:00
6eaa00e3f9
isfinite() is not part of the math class, rather the math.h header file.
2016-05-19 10:07:45 -06:00
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
...
EV testing
2016-05-19 12:56:41 +10:00
c1b02eaa91
EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned
2016-05-18 21:06:45 +10:00
aaac867da8
EKF: Adjust tilt alignment threshold
2016-05-18 20:34:12 +10:00
e272d5f003
EKF: Use consistent position noise values during alignment
2016-05-18 20:11:08 +10:00
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
...
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
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
2016-05-18 19:25:19 +10:00
Paul Riseborough