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Author SHA1 Message Date
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
Paul Riseborough
7612fa40ed EKF: Don't start using GPS for height until all validity checks have passed 
Consolidate intermittent data checks, improve variable and clarify usage.
 2019-06-13 19:36:37 +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
RomanBapst
0f49eb34a0 fixed method which calculates validity of terrain estimate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-05-28 19:43:13 +10:00
Daniel Agar
cd34ab802d mathlib delete floorf in favor of math.h 2019-05-28 19:42:59 +10:00
Robert de Vries
340d85afc1 EKF: fix variable names in estimator_interface.h 
This fixes issue #566
 2019-05-27 17:39:42 -04:00
Matthias Grob
90b4c7c065 mathlib: fix floorf indentation 2019-05-24 09:56:12 +02:00
Sebastian Verling
710c52980e fixed calculation of magentic table values by using floor instead of int casting 2019-05-24 09:09:26 +02:00
Beat Küng
54ac147ae8 Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time 
This does not change the default of 10 seconds.
 2019-05-15 09:00:24 +01:00
Roman
770cd3c5cc added python script for terrain flow derivation (optical flow for terrain 
height estimation)

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman
c085d7295d addressed review comments 2019-05-15 17:16:36 +10:00
Roman
8673ab0346 terrain estimator: constrain terrain state properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman
fbb51147b7 implemented use of optical flow for terrain estimation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Hamish Willee
a27a43eafa Fix up link to EKF docs 2019-05-01 00:36:29 -05:00
Mohammed Kabir
3f691891c4 EKF: control: stop vision yaw fusion on timeout 2019-04-22 12:56:24 +10:00
Martina
c4492b17c1 do not reset yaw if vehicle on ground 2019-04-09 20:50:37 +10:00
Julian Oes
14227eaf1d CMakeLists.txt: fix cmake warning 
This removes the cmake warning:
  implicitly converting 'string' to 'STRING' type.
 2019-04-08 09:54:47 -04:00
Paul Riseborough
f97f0b6ea3 EKF: Remove unnecessary code 
_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
 2019-04-08 06:57:17 +10:00
Paul Riseborough
43b5e26fe4 EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2 2019-04-08 06:57:17 +10:00
Roman
f95cd4b358 ground effect: removed dependency on local position 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-03-19 13:14:57 +11:00
CarlOlsson
7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00
CarlOlsson
32ca6f7030 ekf: scale wind process noise with low pass filtered height rate 2019-03-19 13:10:12 +11:00
CarlOlsson
938c8ad9ad EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff 2019-03-19 13:04:54 +11:00
Hamish Willee
8b4ae48c69 README: Fix link to EKF/ECL tuning guide 2019-03-18 10:21:10 -04:00
Carl Olsson
f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Todd Stellanova
6e77b197c7 Add DataValidatorGroup tests, add more DataValidator tests (#592) 2019-03-15 00:09:47 -04:00
Daniel Agar
a892ececf8 cmake add ECL_TESTS option only enabled in standalone build 2019-03-12 23:29:30 -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
000aa0de5d EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() 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
ea259d358d EKF: initialize the newest attitude estimate to a valid quaternion 
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
56b6b7a778 EKF: cleanup use of _mag_filt_state 
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
Todd Stellanova
6c759e0e9f Initial unit tests for DataValidator (#588) 2019-03-09 14:47:13 -05:00
Nuno Marques
4e0e68e905 Ekf: add more useful methods to interface with the covariances (#543) 2019-03-09 11:57:35 -05:00
Daniel Agar
a85d3a43ed attitude_fw remove unused 2019-03-05 17:26:19 -05:00
Daniel Agar
c66f7f4a09 EKF drop unused timestamp from collect_gps() and pass data by const reference 2019-03-05 17:26:19 -05:00
Freek van Tienen
78b899c72d Add Paparazzi compatibility (#580) 
This adds support for the paparazzi autopilot to use this library as EKF.
The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
 2019-03-05 12:41:21 -05:00
Daniel Agar
5cd331055f cmake standalone build pin PX4/Matrix to commit 
- 6b0777d815
 2019-03-05 12:35:37 -05:00
Daniel Agar
1378ec1797 EKF mag_fusion avoid unnecessary double promotion 2019-02-08 08:24:24 -05:00
Carl Olsson
54ab8191e3 EKF: add method to get the terrain variance 2019-02-06 08:49:16 -05:00
Daniel Agar
c5554cae96 EKF tests update SWIG usage and use latest containers 2019-02-03 18:27:00 -05:00