a2ff415fe4
Fix get frame aligning quaternion function
2019-08-29 08:34:10 +10:00
53eac6e94e
Canonicalize alignment quaternion
2019-08-29 08:34:10 +10:00
933c32c921
Enable local frame alignment also without using it
2019-08-29 08:34:10 +10:00
ea352a6631
Dont use mag suffix for magnitude
2019-08-29 08:34:10 +10:00
05196db79e
Fix alignment of local frame
2019-08-29 08:34:10 +10:00
62fa464e4d
WindEstimator: added support for pre-set airspeed scale factor
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-08-08 09:15:25 +02:00
a7d9c73d4d
Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-08 09:15:25 +02:00
09f29dbb07
added option to fix airspeed scaling to 1
2019-08-08 09:15:25 +02:00
d38164fc8e
Fix flag for initialization
2019-07-22 10:24:51 +02:00
e1751188fd
EKF - Initialize _deadrekon_time_exceeded to true.
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If no sample have been received, deadrekoning and local position should be invalid.
2019-06-28 10:52:52 -04:00
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
2019-06-17 19:24:55 +10:00
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
2019-06-17 19:24:55 +10:00
ad7f7af03b
ekf: correct quaternion multiplication order
2019-06-17 19:24:55 +10:00
d6351bd7a5
EKF: update comment
2019-06-17 19:24:55 +10:00
7612fa40ed
EKF: Don't start using GPS for height until all validity checks have passed
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Consolidate intermittent data checks, improve variable and clarify usage.
2019-06-13 19:36:37 +10:00
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
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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
0f49eb34a0
fixed method which calculates validity of terrain estimate
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2019-05-28 19:43:13 +10:00
cd34ab802d
mathlib delete floorf in favor of math.h
2019-05-28 19:42:59 +10:00
340d85afc1
EKF: fix variable names in estimator_interface.h
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This fixes issue #566
2019-05-27 17:39:42 -04:00
90b4c7c065
mathlib: fix floorf indentation
2019-05-24 09:56:12 +02:00
710c52980e
fixed calculation of magentic table values by using floor instead of int casting
2019-05-24 09:09:26 +02:00
54ac147ae8
Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time
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This does not change the default of 10 seconds.
2019-05-15 09:00:24 +01:00
770cd3c5cc
added python script for terrain flow derivation (optical flow for terrain
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height estimation)
Signed-off-by: Roman <bapstroman@gmail.com >
2019-05-15 17:16:36 +10:00
c085d7295d
addressed review comments
2019-05-15 17:16:36 +10:00
8673ab0346
terrain estimator: constrain terrain state properly
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Signed-off-by: Roman <bapstroman@gmail.com >
2019-05-15 17:16:36 +10:00
fbb51147b7
implemented use of optical flow for terrain estimation
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Signed-off-by: Roman <bapstroman@gmail.com >
2019-05-15 17:16:36 +10:00
a27a43eafa
Fix up link to EKF docs
2019-05-01 00:36:29 -05:00
3f691891c4
EKF: control: stop vision yaw fusion on timeout
2019-04-22 12:56:24 +10:00
c4492b17c1
do not reset yaw if vehicle on ground
2019-04-09 20:50:37 +10:00
14227eaf1d
CMakeLists.txt: fix cmake warning
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This removes the cmake warning:
implicitly converting 'string' to 'STRING' type.
2019-04-08 09:54:47 -04:00
f97f0b6ea3
EKF: Remove unnecessary code
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_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
43b5e26fe4
EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
2019-04-08 06:57:17 +10:00
f95cd4b358
ground effect: removed dependency on local position
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Signed-off-by: Roman <bapstroman@gmail.com >
2019-03-19 13:14:57 +11:00
7845ff4360
EKF: increase wind process noise scaler to 0.5
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-19 13:10:12 +11:00
32ca6f7030
ekf: scale wind process noise with low pass filtered height rate
2019-03-19 13:10:12 +11:00
938c8ad9ad
EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff
2019-03-19 13:04:54 +11:00
8b4ae48c69
README: Fix link to EKF/ECL tuning guide
2019-03-18 10:21:10 -04:00
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-18 10:20:33 -04:00
6e77b197c7
Add DataValidatorGroup tests, add more DataValidator tests ( #592 )
2019-03-15 00:09:47 -04:00
a892ececf8
cmake add ECL_TESTS option only enabled in standalone build
2019-03-12 23:29:30 -04:00
fabd216ca5
EKF: Documentation edits
2019-03-13 08:14:23 +11:00
8d6e8ae078
EKF: update get_mag_decl_deg()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-13 08:14:23 +11:00
2b17ced405
EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-13 08:14:23 +11:00
1d91785a8e
EKF: correct quaternion order
2019-03-12 19:07:55 +11:00
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
96c5c14041
EKF: Change the EKF initialization to
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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
ea259d358d
EKF: initialize the newest attitude estimate to a valid quaternion
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
6cf512f103
EKF: Also update the newest and oldest quaternion estimate in
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alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
78122b20a6
EKF: fix the rotation direction of the buffered attitude solutions
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in alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
56b6b7a778
EKF: cleanup use of _mag_filt_state
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
kamilritz