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Author SHA1 Message Date
Paul Riseborough
e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough
6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough
63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough
4bd79c9e5d Merge pull request #76 from PX4/pr-fixRngHgtMode 
EKF: Fix bugs preventing use of range finder as primary height source

Flight testing completed and I have checked that the other pending PR #75 rebases cleanly on it.
 2016-03-14 09:46:58 +11:00
Paul Riseborough
49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa EKF: Don't start the output observer before the main filter has initialised 
This prevents the possibility of output transients if alignment is delayed.
 2016-03-13 21:17:51 +11:00
Paul Riseborough
d2407c3463 EKF: code style updates 2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Lorenz Meier
699ec17cc3 Removed spurious print in wheel controller 2016-03-12 11:23:08 +01:00
Paul Riseborough
2882c53246 Merge pull request #74 from PX4/pr-optflow-reworked 
Add fusion of optical flow LOS rate measurements
 2016-03-11 11:13:03 +11:00
Paul Riseborough
109e0e6dfc EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
26238bc2f5 EKF: Allow for change in position when defining the WGS-84 origin position 
This allows GPS aiding to commence later in flight without step changes in local position output
 2016-03-11 11:03:43 +11:00
Paul Riseborough
e0fcce1463 EKF: Make position and velocity reset publish success 
Some users of the position and velocity reset functions will need to know if the reset has been successful.
 2016-03-11 11:03:43 +11:00
Paul Riseborough
48f980b054 EKF: Fix syntax causing posix build to fail 2016-03-11 11:03:43 +11:00
Paul Riseborough
eab0ef4266 EKF: Update default process noise for terrain estimator 2016-03-11 11:03:43 +11:00
Paul Riseborough
962fd0aaf2 EKF: Adjust terrain process noise for gradient effect 2016-03-11 11:03:43 +11:00
Paul Riseborough
1a2da887ab EKF: Fix bug in calculation of terrain estimator Kalman gain 2016-03-11 11:03:43 +11:00
Paul Riseborough
cc5512905a EKF: prevent optical flow, GPS and baro fusion from blocking each other 2016-03-11 11:03:43 +11:00
Paul Riseborough
e9ccfdd484 EKF: Update derivation scripts and outputs 
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
 2016-03-11 11:03:43 +11:00
Paul Riseborough
ffebaf384f EKF: Set initial optical flow fusion monitor outputs to zero 2016-03-11 11:03:43 +11:00
Paul Riseborough
5acd1cbac4 EKF: Make definitions of parameters clearer for external use 2016-03-11 11:03:43 +11:00
Paul Riseborough
dd1d58bab5 EKF: Remove unnecessary matrix operations from optical flow fusion 
The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
 2016-03-11 11:03:43 +11:00
Paul Riseborough
b3b0f1347a EKF: Make normal GPS mode the default 2016-03-11 11:03:43 +11:00
Paul Riseborough
d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough
836fe39070 EKF: Update external interface functions to support optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
2ff338048d EKF: Add support for range-finder fusion as primary height reference 2016-03-11 11:03:43 +11:00
Paul Riseborough
2c2850c0ce EKF: Add functions to get position and velocity state variance 2016-03-11 11:03:43 +11:00
Paul Riseborough
32b03819ef EKF: Add function to calculate global position validity 2016-03-11 11:03:43 +11:00
Paul Riseborough
270451e17b EKF: Update height reset to support range finder height use 2016-03-11 11:03:43 +11:00
Paul Riseborough
dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough
75b22c95ac EKF: Add new source files to cmake 2016-03-11 11:03:43 +11:00
Paul Riseborough
122dd9c531 EKF: Add source file for optical flow LOS rate fusion 2016-03-11 11:03:43 +11:00
Paul Riseborough
82cbfafb34 EKF: Add source file for terrain vertical position estimator 
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
 2016-03-11 11:03:43 +11:00
Paul Riseborough
829e0f1e65 Merge pull request #73 from mcsauder/master 
Conversion error correction and additional function overloads to allow standalone compilation.
 2016-03-11 11:02:32 +11:00
mcsauder
6a61f9ba77 Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications. 2016-03-05 02:17:55 -07:00
mcsauder
115c87a0ea Remove an include that was unnecessary. 2016-03-05 02:15:04 -07:00
mcsauder
1aee1b895a Uncomment commented lines that removed Eigen namespaces and dependencies. 2016-03-05 02:12:26 -07:00
mcsauder
f9be23933b Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4. 2016-03-05 01:58:58 -07:00
Paul Riseborough
b163efeae2 Merge pull request #72 from PX4/pr-MagFusionBug 
Fix bug in declination fusion and standardise covariance update
 2016-03-05 11:34:19 +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
Daniel Agar
2108466a00 initialize ECL_L1 variables 2016-03-03 11:22:07 +01:00
Roman Bapst
b2744f965d use in_air flag from land detector to determine if we are on the ground 2016-03-03 10:53:39 +01:00
Paul Riseborough
569886a4fc EKF: Fix bug in velocity and position innovation consistency checks 2016-03-03 17:15:22 +11:00
mcsauder
f9e3db0504 Move variable initializations from header file to constructor to allow C99 compliance. 2016-03-02 08:42:38 +01:00
Paul Riseborough
d8627c6aaf EKF: Reset the vertical position states if height fusion times out 2016-03-02 08:39:07 +01:00
Paul Riseborough
f7a53d69f2 EKF: Improve height reset function 
Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
 2016-03-02 08:39:07 +01:00
Paul Riseborough
a6da73fa83 EKF: Add missing div0 protection 2016-03-01 18:03:35 +11:00
Paul Riseborough
d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00