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Author SHA1 Message Date
Paul Riseborough ed7c5991eb ekf2: Fix dimensional error in gyro and accel bias variance conversions 2021-09-29 09:58:41 -04:00
Paul Riseborough 223ca11aed ekf2: update drag fusion parameter descriptions 2021-07-08 22:19:52 -04:00
Paul Riseborough 2d6363e0ef ekf2: Add parameter for propeller momentum drag 2021-07-08 22:19:52 -04:00
Paul Riseborough 909326e9d8 ecl: use latest version with momentum drag fusion 2021-07-08 22:19:52 -04:00
Paul Riseborough 0c15624a0c EKF: Fix clang-tidy complaint 2021-07-06 15:20:39 +02:00
Paul Riseborough 3beb5bcbe0 EKF: Fix momentum drag density altitude scaling and update comments 2021-06-22 18:50:56 +10:00
Paul Riseborough 97b5ae1e96 EKF: Fix derivation comments for drag fusion 2021-06-22 18:50:56 +10:00
Paul Riseborough 58d376e2be EKF: prevent /0 and use pre-computed inverses 2021-06-22 18:50:56 +10:00
Paul Riseborough de8625d255 EKF: fix sign error in bluff body drag fusion 2021-06-22 18:50:56 +10:00
Paul Riseborough 73d1e514d0 EKF: Extend drag fusion to include propeller momnetum drag 2021-06-22 18:50:56 +10:00
Paul Riseborough b3c1bd6d40 EKF: Remove un-used code 2021-03-09 21:23:38 +11:00
Paul Riseborough 4bad2a272c EKF: Use debug prints for NuttX builds 2021-03-05 19:06:59 -05:00
Paul Riseborough c1f1415696 EKF: Add usage warning comment 2021-03-05 19:06:59 -05:00
Paul Riseborough c2b86cdb20 EKF: Provide external reset of event records 2021-03-05 19:06:59 -05:00
Paul Riseborough 9d51ab079a EKF: Remove duplicated event recording 2021-03-05 19:06:59 -05:00
Paul Riseborough 140ca3f48f EKF: Add external monitoring of warning and information events 2021-03-05 19:06:59 -05:00
Paul Riseborough 90a445ddbc EKF: upgrade some events from into to warning status 2021-03-05 19:06:59 -05:00
Paul Riseborough 602e65146c EKF: Remove unnecessary initialisation 2021-02-09 19:55:32 +11:00
Paul Riseborough 6f664abc4a EKF: Non functional changes arising from review 2021-02-09 19:55:32 +11:00
Paul Riseborough b87778e61d EKF: Make clip detection logic easier to follow 2021-02-09 19:55:32 +11:00
Paul Riseborough 9aa8d93efc EKF: Use isRecent function 2021-02-09 19:55:32 +11:00
Paul Riseborough e948b3505f EKF: Don't reject vertical aiding data if inertial solution is bad 
Also reduce clipping count threshold
 2021-02-09 19:55:32 +11:00
Paul Riseborough c566318db5 EKF: misc improvements to handling of accel clipping 2021-02-09 19:55:32 +11:00
Paul Riseborough 9c89fa3b29 EKF: Use IMU clipping to adjudicate bad accel data check 2021-02-09 19:55:32 +11:00
Paul Riseborough 4b4a9a925b logger: Log takeoff_status 2021-02-03 17:44:12 +01:00
Paul Riseborough 9d1de3118f land_detector: Rework ground effect calculation for MC 2021-02-03 17:44:12 +01:00
Paul Riseborough b919f3ddf4 EKF: Restore protection from extreme innovation values 2021-01-21 20:55:42 +11:00
Paul Riseborough efb78deef9 EKF: Set position fusion gate option false by default 2021-01-21 20:55:42 +11:00
Paul Riseborough 556a195320 EKF: Improve handling of non position mode large position innovations 
These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.
 2021-01-21 20:55:42 +11:00
Paul Riseborough 99575d73e1 EKF: Add bad accel bias checking for EV and range finder height use cases 2021-01-09 11:03:31 -05:00
Paul Riseborough ff3c0a6136 EKF: Fix bug preventing recovery from bad delta velocity bias estimates 2021-01-09 11:03:31 -05:00
Paul Riseborough 96418101e1 test: Allow for larger vel variance growth due to dvel bias variance 2021-01-09 11:03:31 -05:00
Paul Riseborough 1b1c049e81 test: Update unit test to match expected behaviour 2021-01-09 11:03:31 -05:00
Paul Riseborough dd259a288f EKF: Don't modify accel bias states and variances when inhibited 2021-01-09 11:03:31 -05:00
Paul Riseborough 3e1f2d8674 EKF: Set dvel bias variance to stored value when state is inactive 2021-01-09 11:03:31 -05:00
Paul Riseborough 03fed323ab EKF: Fix formatting 2021-01-05 21:08:28 +11:00
Paul Riseborough 31fca9c31d EKF: Update GPS loss message 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
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
Paul Riseborough ee94980a8f EKF: Clean up wind state activation logic 
Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
 2020-12-08 18:03:04 -05:00
Paul Riseborough 44ebfb8c43 EKF: Don't report local position as valid when in a non-position mode 2020-12-08 18:03:04 -05:00
Paul Riseborough 3e4c38f6e8 ekf2: Fix bug causing excessive lane selection switching 2020-11-25 10:00:07 -05:00
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 1a7c68ea72 EKF: update change indicator 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
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
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 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
Paul Riseborough 1592db8f34 EKF: Convert optical flow fusion to use SymPy generated equations 2020-08-16 08:44:17 +10:00
Paul Riseborough 1f386c1bb8 EKF: Add yaw estimate SymPy generated code files 2020-08-16 08:43:29 +10:00
Paul Riseborough 510d93858f EKF: move yaw estimator derivation into main filter derivation 
Enables use of common components
 2020-08-16 08:43:29 +10:00
Paul Riseborough f89c52e840 EKF: use ecl::powf for integer exponents 2020-08-15 08:40:59 +10:00
Paul Riseborough c91c78dcf6 EKF: Allow reset of yaw to EKF-GSF later in flight 2020-05-22 13:05:10 +03:00