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163 Commits

Author SHA1 Message Date
Bazooka Joe
9c0a52d52a delay time: potentially reduce delay time if baro/aux velocity/airspeed is not used 2021-06-22 18:30:47 +10:00
Paul Riseborough
03fed323ab EKF: Fix formatting 2021-01-05 21:08:28 +11:00
Paul Riseborough
c65cf13bb8 EKF; Treat combined sideslip and airspeed as a horizontal aiding source 2021-01-05 21:08:28 +11:00
Daniel Agar
398fe159ce EKF: allow initialising without mag depending on configuration 
- reduce initial number of required mag and baro samples before init
 2020-12-17 19:55:51 +11:00
Mathieu Bresciani
8f3df7a97b
flow: restructure optical flow control logic (#928) 
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
 2020-12-09 11:33:00 +01:00
Paul Riseborough
944b18c63e EKF: Remove non useful status print 
Local position is never valid when filter is initialised so there is no use printing the status.
 2020-12-08 18:03:04 -05:00
Daniel Agar
03cfcb903e
EKF: RingBuffer minor improvements 
- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
 2020-12-03 20:48:51 -05:00
Daniel Agar
a21092804a EKF: remove virtual getters from estimator_interface 2020-11-02 09:35:47 -05:00
Daniel Agar
defb35d8f5 EKF: pass imuSample by const reference 2020-10-30 09:47:22 -04:00
kamilritz
b5e1397c0f Add const modifier 
const modifier


Add missing const modifier
 2020-07-16 18:25:06 +02:00
bresch
aa96fa6d9e Random style fixes in the code 2020-06-05 20:44:30 +02:00
Daniel Agar
47624a0f02
EKF increase delta velocity process noise per axis if clipping (#663) 2020-04-08 08:51:51 +10:00
kamilritz
2fa43419d2 Interface: output vector quantities by "return-by-value" 2020-03-30 13:07:00 +02:00
CarlOlsson
b6420d0b79 ekf: add vehicle at rest to flags 2020-02-12 18:58:24 +01:00
kritz
ee859e092a Robustify timestamp checks (#729) 
* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
 2020-01-28 20:33:16 +11:00
bresch
e3af91c9ce Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel) 2020-01-24 17:22:50 +04:00
kamilritz
a3e1eb9d50 Checkout to matching firmware if possible 2020-01-24 16:18:42 +03:00
kamilritz
f3d790a664 Update optical flow interface 2020-01-24 16:18:42 +03:00
RomanBapst
cafb1400fb estimator_interface: bugfix, set range sample correctly 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-01-24 13:03:04 +01:00
kamilritz
de33885658 Update setExtVisionData interface 2020-01-23 14:50:43 +01:00
kamilritz
37201fb071 Remove legacy imu interface 2020-01-23 09:34:07 +11:00
kamilritz
7c3a2f839b Update range finder interface 2020-01-23 09:34:07 +11:00
kamilritz
4fb2d1b02e Update range finder interface 2020-01-23 09:34:07 +11:00
kamilritz
9f0d8ed59e Update mag interface 2020-01-23 09:34:07 +11:00
kamilritz
856961ba85 Update airspeed interface 2020-01-23 09:34:07 +11:00
kamilritz
b8a3ed5f09 Update baro interface 2020-01-23 09:34:07 +11:00
kamilritz
74ec80cdc7 Update gps interface 2020-01-23 09:34:07 +11:00
kamilritz
83b2abe434 protect against overflow 2020-01-21 10:09:48 +03:00
kamilritz
4be9ae8029 Compute the timestamp of average sample correctly 2020-01-21 10:09:48 +03:00
kamilritz
29c5954690 Move baro downsampling and dynamic pressure comp to ECL 2020-01-21 10:09:48 +03:00
kamilritz
d7d7b56519 Move mag down sampling to ECL lib 2020-01-21 09:36:02 +03:00
kamilritz
be11516dd6 Refactor IMU downsampling into its own class 2020-01-09 19:43:29 +11:00
kamilritz
c7e074276f Save flash space 
This commit saves roughly 400-500 Bytes in flash space
 2020-01-09 19:43:29 +11:00
kamilritz
84dcb32bd8 Extend auxVel interface to support 3d velocity 2020-01-08 14:36:03 +01:00
kamilritz
07e8e88e88 Support full vision variance 2020-01-08 14:36:03 +01:00
kamilritz
1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz
0b18143745 Improve readibility 2020-01-08 09:00:31 +01:00
kamilritz
3daf25763e Remove unnecessary comments 2020-01-08 09:00:31 +01:00
kamilritz
36da8d82c8 Clean up white space 2020-01-08 09:00:31 +01:00
kamilritz
9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
kritz
532c9abd4a Expand test framework and test cases (#685) 
* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming
 2019-12-17 11:35:45 +01:00
kritz
6c25ac5731 Tilt Initialisation: Average Filter -> LowPass Filter (#686) 
* Tilt Initialisation: Average Filter -> LowPass Filter

* Add _is_first_imu_sample variable

* Remove not needed comments
 2019-12-17 11:01:25 +01:00
Daniel Agar
98a1aae494 EKF: use Matrix cross product 2019-12-17 09:35:08 +01:00
kamilritz
1bf09fd370 Remove EKF prefix from logged messages 2019-12-12 08:48:10 +01:00
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
1e57c4bbec Fix white space 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
149233a9ab Add velocity observations to external vision interface 2019-09-24 07:48:46 +10:00
Nico van Duijn
640e41cba7 EKF: change rangeSample quality to int8_t 2019-09-12 17:45:37 +10:00