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60 Commits

Author SHA1 Message Date
Paul Riseborough
eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Daniel Agar
c44488fdb8
EKF matrix typedef cleanup 2017-06-19 11:10:01 -04:00
Paul Riseborough
c48b879843 Merge pull request #276 from CarlOlsson/feature/only_update_mag_states 
EKF: Add feature to use the mag to only update the mag states
 2017-06-14 11:04:14 +10:00
Julien Lecoeur
d0b4f1e225 Use binary operator~ instead of logical operator! 2017-06-05 01:07:52 +08:00
Julien Lecoeur
c323b64742 Fix -Werror=int-in-bool-context on GCC 7 2017-06-05 01:07:52 +08:00
CarlOlsson
be16406b35 EKF: Add feature to use the mag to only update the mag states 2017-05-26 11:29:21 +02:00
Beat Küng
07c6aabd98 EKF: reduce KH to only the elements that are really needed, and merge the loops 2016-11-02 10:26:40 +01:00
Paul Riseborough
1b59a89a18 EKF: save some stack memory 2016-11-02 09:06:06 +01:00
Beat Küng
25cb400da9 EKF: remove Ekf::KHP and move KHP to the methods where it's used 
Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.

This saves 2.3KB RAM.

Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
 2016-11-01 22:49:20 +01:00
Paul Riseborough
79b1d3018d EKF: Fix magnetometer innovation test ratio reporting bug 2016-10-12 08:51:45 +02:00
Paul Riseborough
a2d866520a EKF: perform innovation check in all axes before fusing 3D mag data (#171) 
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
 2016-07-07 16:46:30 +02:00
Paul Riseborough
b3baab64f2 EKF: Updates to 3-axis mag fusion auto-code 
The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
 2016-06-08 12:56:59 +10:00
Paul Riseborough
21168f9929 EKF: fix bug in 3-axis mag fusion innovation test 
The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
 2016-06-08 11:58:33 +10:00
Paul Riseborough
99b34f0df4 EKF: Only reset necessary terms when mag fusion covariance reset required 
Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
381d99aed6 EKF: Inform console of serious fusion numerical errors 2016-06-08 11:58:33 +10:00
Paul Riseborough
dbfe8c0242 EKF: remove approximation in mag fusion innovation variance calculation 
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough
388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough
e7690bd8f8 EKF: capture magnetometer innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough
3fb449295e EKF: capture yaw innovation test failures 2016-06-01 17:13:00 +10:00
Carl Olsson
0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Paul Riseborough
920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough
59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00
Paul Riseborough
e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough
020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +10:00
Paul Riseborough
7f5669fb2d EKF: consolidate covariance corrections 
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
 2016-05-07 20:29:50 +10:00
Paul Riseborough
c8d95586e7 EKF: Improve protection against bad magnetometer fusion 2016-05-07 14:23:20 +10:00
Paul Riseborough
f01f4ae4b1 EKF: tidy up mag declination fusion 2016-05-05 21:23:03 +10:00
Paul Riseborough
0d31aad33a EKF: Fix bad limit on magnetometer noise parameter 2016-05-05 21:23:03 +10:00
Paul Riseborough
7069fb7a04 EKF: refresh auto code for mag fusion 2016-05-05 21:23:03 +10:00
Paul Riseborough
a373ada858 EKF: explicitly define floating point type in hardcoded constants 2016-05-05 21:23:03 +10:00
Paul Riseborough
82da832816 EKF: tidy up Kalman gain calculations 
Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
 2016-05-05 21:23:03 +10:00
Paul Riseborough
fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough
5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough
6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough
5242af84af EKF: Standardise covariance update and use static arrays for large matrices 2016-03-05 08:58:19 +11:00
Paul Riseborough
1414d591ce EKF: Fix bug in declination fusion indexing 2016-03-05 08:43:33 +11:00
Paul Riseborough
a6da73fa83 EKF: Add missing div0 protection 2016-03-01 18:03:35 +11:00
Paul Riseborough
97df006a6a EKF: Update direct heading fusion 
Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
 2016-03-01 15:25:22 +11:00
Paul Riseborough
0ad5329caf EKF: Update comments in heading fusion to clarify calculation of magnetic heading 2016-02-24 12:06:11 +11:00
Roman Bapst
8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
Paul Riseborough
a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
Paul Riseborough
6df6ac0023 EKF: Fix sign error in heading innovation calculation and clean up 2016-02-20 11:54:53 +11:00
Paul Riseborough
90e1bd3e36 EKF: wrap compass yaw estimate 2016-02-19 16:53:55 +11:00
Paul Riseborough
7d6226eb45 EKF: Improve efficiency of yaw angle fusion 
Use direct calculation of Kaman gains with optimised algebra
 2016-02-19 16:25:01 +11:00
Paul Riseborough
7f121e81e4 EKF: Update yaw innovation calculation to match revised derivation 
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
 2016-02-19 16:18:07 +11:00
bugobliterator
263c48d089 EKF: remove dependecies and allow ekf to be built as standalone shared lib 2016-02-17 17:33:18 -08:00
Paul Riseborough
1d40507af8 EKF: Set Kaman gains to zero for un-used states 
This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
 2016-02-16 11:08:30 +11:00
Paul Riseborough
402206a305 EKF: Fix critical bug in fusion of yaw and declination observations 
This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
 2016-02-16 11:08:30 +11:00
Paul Riseborough
2bbe7f9a1c EKF: Update magnetometer fusion to use declination from the specified source 2016-02-14 22:01:53 +01:00