 Daniel Agar
|
a21092804a
|
EKF: remove virtual getters from estimator_interface
|
2020-11-02 09:35:47 -05:00 |
|
|
Daniel Agar
|
48a8992caf
|
EKF: move small simple getters to header
- return by const reference where possible
|
2020-10-30 09:48:45 -04:00 |
|
|
Daniel Agar
|
defb35d8f5
|
EKF: pass imuSample by const reference
|
2020-10-30 09:47:22 -04:00 |
|
|
Daniel Agar
|
d85e24d3ca
|
EKF: Ekf class is final
|
2020-10-27 08:53:58 -04:00 |
|
|
Daniel Agar
|
5ea8824439
|
EKF: inline simple getters
|
2020-10-27 08:53:58 -04:00 |
|
|
Daniel Agar
|
6e99ebd928
|
EKF: add fault status bit for bad vertical accel data
|
2020-10-26 17:37:15 +01:00 |
|
|
Daniel Agar
|
d936b85d71
|
EKF: add fault status bit for clipping
|
2020-10-26 17:37:15 +01:00 |
|
|
Mathieu Bresciani
|
dd3ffc4192
|
Optical flow: compute velociy from corrected flow data for logging (#920)
This is really useful when debugging optical flow data
|
2020-10-26 13:27:52 +01:00 |
|
|
Paul Riseborough
|
f666ebb995
|
EKF: Code format fix - replace 1E-x with 1e-x
|
2020-10-06 20:50:52 +11:00 |
|
|
Paul Riseborough
|
e82d0af6d2
|
EKF: Improve code clarity - non functional change
|
2020-10-06 20:50:52 +11:00 |
|
|
Paul Riseborough
|
759d217d5a
|
EKF: Improve protection for GSF weight collapse
|
2020-10-06 20:50:52 +11:00 |
|
|
Paul Riseborough
|
7c81350c7a
|
EKF: Don't yaw reset if not yaw induced nav failure
|
2020-10-06 20:50:52 +11:00 |
|
|
Paul Riseborough
|
bf0d70fc90
|
EKF: Protect against collapse of GSF weights
|
2020-10-06 20:50:52 +11:00 |
|
|
Daniel Agar
|
4c2355a638
|
EKF: use GPS to lookup declination from WMM before full GPS checks pass
|
2020-09-28 08:43:32 +02:00 |
|
|
bresch
|
5879eaaf78
|
ekf: fix variable length array error
Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it.
Using sizeof...(Idxs) fixes the error.
|
2020-09-25 11:33:29 +02:00 |
|
|
Daniel Agar
|
fab242a81f
|
python generation add shebang, mark executable, ignore cache
- commit all current generated files
|
2020-09-07 09:20:41 +02:00 |
|
|
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
|
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 |
|
|
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 Riseboroughandkritz
|
7fa9a1963b
|
EKF: optflow fusion cleanup
Co-authored-by: kritz <kritz@ethz.ch>
|
2020-08-16 08:44:17 +10:00 |
|
|
Paul Riseboroughandkritz
|
0e74f3ea9d
|
EKF: optflow fusion cleanup
Co-authored-by: kritz <kritz@ethz.ch>
|
2020-08-16 08:44:17 +10:00 |
|
|
Paul Riseboroughandkritz
|
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 |
|