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Author SHA1 Message Date
Carl Olsson
dbe2513d48 updated logic of calculation of body field variance (#146) 2016-05-22 17:39:25 +02:00
Paul Riseborough
4c5252269c Merge pull request #142 from PX4/pr-ekf2ImproveHeadingReset 
EKF: Improved heading reset
 2016-05-21 22:38:26 +10:00
Paul Riseborough
ae5071f668 EKF: Improve heading reset 
Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
 2016-05-21 19:30:15 +10:00
Paul Riseborough
4b279a8836 Merge pull request #144 from waltjohnson/master 
Addressed C99 compiler issues of initializing variables in header and…
 2016-05-20 07:37:24 +10:00
waltjohnson
a9ca8c294c Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52) 2016-05-19 10:34:16 -06:00
waltjohnson
6eaa00e3f9 isfinite() is not part of the math class, rather the math.h header file. 2016-05-19 10:07:45 -06:00
waltjohnson
7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough
f5e2dabc2b Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
Paul Riseborough
e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough
867bc8c601 Merge pull request #139 from PX4/pr-ekf2Alignment 
EKF: Improve angular alignment consistency
 2016-05-18 21:23:31 +10:00
Paul Riseborough
c1b02eaa91 EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned 2016-05-18 21:06:45 +10:00
Paul Riseborough
aaac867da8 EKF: Adjust tilt alignment threshold 2016-05-18 20:34:12 +10:00
Paul Riseborough
e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough
b9a3712ccb EKF: record yaw alignment event during initialisation to allow heading fusion to start early 
This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
 2016-05-18 19:25:19 +10:00
Paul Riseborough
94a63ec9d5 EKF: don't interfere with quaternion covariances during tilt alignment 2016-05-18 19:25:19 +10:00
Paul Riseborough
22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +10:00
Nic
1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
Paul Riseborough
50ba26a434 Merge pull request #134 from PX4/pr-ekf2Alignment 
EKF: Improved tilt alignment control
 2016-05-18 12:34:22 +10:00
Paul Riseborough
e4b2e9c93d EKF: Improve yaw alignment 
Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
 2016-05-18 12:16:16 +10:00
Paul Riseborough
57b2a256f7 EKF: Improve initialisation of quaternion covariances 
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
 2016-05-17 12:47:20 +10:00
Paul Riseborough
a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough
88860d0307 EKF: Enable tuning for IMU switch on bias errors 2016-05-17 11:17:24 +10:00
Paul Riseborough
1540e937b1 EKF: Improve tilt alignment monitoring 
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
 2016-05-17 11:17:24 +10:00
Paul Riseborough
6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Paul Riseborough
d5046b078e Merge pull request #106 from PX4/pr-visionSupport 
EKF: add support for external vision data
 2016-05-16 07:32:46 +10:00
Paul Riseborough
c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough
920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough
13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough
59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00
Paul Riseborough
172f4be594 EKF: Fix bug in calculation of terrain observation variance 2016-05-14 21:17:29 +10:00
Paul Riseborough
b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough
f4a0f69f6e EKF: print to console when starting EV fusion 2016-05-14 21:17:29 +10:00
Paul Riseborough
349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
Paul Riseborough
ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
devbharat
cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat
d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00
devbharat
d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
devbharat
6d20a426e0 Reset time_last_ext_vision 2016-05-14 21:17:29 +10:00
devbharat
b681c9a5d0 Added external vision noise parameters etc and position offset 2016-05-14 21:17:29 +10:00
devbharat
ff8f03b5dd Added compensation for VI sensor offset. Check sign. 2016-05-14 21:17:29 +10:00
Paul Riseborough
e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough
37a09c61bc EKF: Don't use delayed data to start EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
25f1d1d766 EKF: Add fusion of external vision 3D pos data 2016-05-14 21:17:29 +10:00
Paul Riseborough
81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough
3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough
7afd015b49 Merge pull request #129 from PX4/pr-ekf2OutputFilterTracking 
EKF:  Improve output observer position and velocity tracking
 2016-05-14 15:53:19 +09:30
Paul Riseborough
c7e225124c EKF: Improve output observer position and velocity tracking 
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
 2016-05-14 12:45:29 +09:30
Paul Riseborough
627d08ecc9 Revert "EKF: Fix bug in output observer" 
This reverts commit 03f3df741589627bf15225327289b01916cc1a90.
 2016-05-14 12:26:46 +09:30
Paul Riseborough
03f3df7415 EKF: Fix bug in output observer 
Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
 2016-05-14 08:33:05 +09:30
Lorenz Meier
d595596c42 Merge pull request #114 from PX4/fix_linux_build 
CMakeLists: use find_package Eigen3
 2016-05-12 12:55:40 +02:00