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119 Commits

Author SHA1 Message Date
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
e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +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
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
c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough
349c731375 EKF: remove PX4 dependant text output 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
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
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
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
Paul Riseborough
481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough
0c6a367e1b EKF: fix Travis build error 2016-05-07 17:45:49 +10:00
Paul Riseborough
22f0f52bf1 EKF: fix travis build error 2016-05-07 17:06:45 +10:00
Paul Riseborough
da9d894441 EKF: Improvements to covariance reset 2016-05-07 12:57:41 +10:00
Paul Riseborough
f1b7e7714e EKF: Make average update rate of EKF closer to target 
With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
 2016-05-05 21:23:03 +10:00
Paul Riseborough
5523a4f225 EKF: Fix IMU bias compensation scale error in output filter 
Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
 2016-05-05 21:23:03 +10:00
Paul Riseborough
727a43764f EKF: update initial angle alignment check 2016-05-05 21:23:03 +10:00
Paul Riseborough
ffea65e1a4 EKF: fix bug in state prediction 2016-05-05 21:23:03 +10:00
Paul Riseborough
7530e30012 EKF: Improve IMU data collection 
Use IMU driver published delta angle integration time to determine when enough data has been accumulated.
Perform basic first order sculling corrections on delta velocity data
Comment steps to make make method clearer
 2016-05-05 21:23:03 +10:00
Paul Riseborough
54e713969d EKF: Fix rebase error 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
Beat Küng
f2dda3c183 ekf: initialize _terrain_var, fixes access to uninitialized value 
in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the
valgrind output:
==15439== Thread 14 ekf2:
==15439== Conditional jump or move depends on uninitialised value(s)
==15439==    at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so)
==15439==    by 0x4D1AF0: Ekf::get_terrain_vert_pos(float*) (terrain_estimator.cpp:135)
==15439==    by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655)
==15439==    by 0x42BF3D: entry_adapter(void*) (px4_posix_tasks.cpp:103)
==15439==    by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so)
==15439==    by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)
 2016-05-02 17:35:42 +02:00
Paul Riseborough
6c57bea1c3 EKF: fix bug in IMU error application timing patch 2016-04-30 15:11:12 +10:00
Paul Riseborough
15df20831a EKF: improve output complementary filter tracking 
Optimise for height tracking and adjust gains automatically with changes in time delay.
 2016-04-30 11:03:45 +10:00
Paul Riseborough
4fa1e9c651 EKF: Fix timing errors in state prediction 
IMU corrections were being applied at the wrong time horizon to the EKF states
IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.
 2016-04-30 11:02:19 +10:00
Julian Oes
f8a48f9cc5 ekf: now it should even compile for NuttX 2016-04-28 16:30:49 +02:00
Julian Oes
12f4d6f703 ekf: another stab at fixing isfinite for all 
The previous solution did not work for Snapdragon, so I needed to copy
what is used in px4_defines.h.
 2016-04-28 16:09:12 +02:00
Paul Riseborough
22ad87599c Merge pull request #112 from PX4/fix_ubuntu1604_2 
ekf: compile fix for Ubuntu 16.04
 2016-04-27 21:21:04 +10:00
Julian Oes
46e207106b ekf: use std::isfinite instead of isnan 2016-04-27 12:58:22 +02:00
Paul Riseborough
874558d194 EKF: improve detection of bad vert accel data 
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
 2016-04-22 09:24:04 +10:00
Paul Riseborough
421703c267 EKF: rework initialisation of height state and offsets 2016-04-22 08:38:41 +10:00
Paul Riseborough
a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Paul Riseborough
0de15b1b20 EKF: Add variables to monitor vertical position and height offset 2016-04-22 08:28:56 +10:00
Paul Riseborough
b295f9050c EKF: ensure GPS check status is correctly initialised 2016-04-20 21:53:15 +10:00
Roman Bapst
00c8821006 disable airspeed fusion for now. Needs more testing and implementation of side slip fusion 2016-04-19 11:18:45 +02:00
Roman Bapst
99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough
8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough
163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough
2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough
5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough
e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough
b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00