Paul Riseborough
e3365525c2
EKF: rework height reset logic
2016-04-22 08:39:24 +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
10bf05e9a6
EKF: publish the vertical position offset
2016-04-22 08:30:46 +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
62c6d40f1f
EKF: Add methods to ring buffer to access specific indices
2016-04-22 08:21:36 +10:00
Paul Riseborough
b295f9050c
EKF: ensure GPS check status is correctly initialised
2016-04-20 21:53:15 +10:00
Lorenz Meier
9487eac505
Merge pull request #98 from priseborough/pr-ekf2StatusReporting
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EKF: improve reporting of filter status
2016-04-20 11:44:02 +02:00
Roman Bapst
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
2016-04-19 12:47:57 +02:00
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
Paul Riseborough
2fa8a11a29
EKF: replace unnecessary memcopy
2016-04-19 19:10:41 +10:00
Roman Bapst
99fc61c27c
ekf2 airspeed fusion:
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- 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
82920da232
EKF: strengthen checking of local position status
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provides immediate status reporting when dropping out of optical flow mode
2016-04-19 17:38:22 +10:00
Paul Riseborough
31bf342fc1
EKF: publish GPS check status
2016-04-19 17:38:22 +10:00
Paul Riseborough
6fa13c7806
EKF: publish control mode status
2016-04-19 17:37:27 +10:00
Roman Bapst
60abf07bee
added function to return accelerometer bias
2016-04-18 17:52:16 +02:00
Roman Bapst
f32303de69
added function to return accelerometer bias
2016-04-18 17:00:17 +02:00
Lorenz Meier
3455931617
EKF init: Fix initialization statement
2016-04-17 19:29:23 +02:00
Daniel Agar
861c13f1fe
cmake STACK -> STACK_MAIN
2016-04-16 21:46:50 -04:00
Paul Riseborough
ea38aa130f
EKF: update default time delay parameter values
2016-04-14 08:53:59 +10:00
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
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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
Paul Riseborough
48b105b748
EKF: correct range finder data for sensor position offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
e89dbb9f63
EKF: correct GPS data for antenna position offset
2016-04-12 11:14:31 +10:00
Paul Riseborough
3580940e10
EKF: Add sensor position offset parameters
2016-04-12 11:14:31 +10:00
Paul Riseborough
006b6b58e4
EKF: fix bug in status print statement
2016-04-12 10:38:50 +10:00
Paul Riseborough
74078cde94
EKF: reset state variance when performing a height reset
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Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
2016-04-11 19:40:27 +10:00
Paul Riseborough
f4f108d57d
EKF: Reset vertical velocity when performing a height reset
2016-04-11 19:25:24 +10:00
Lorenz Meier
f86ef34782
EKF: Fix error message which lied
2016-04-05 19:06:35 -07:00
Paul Riseborough
a352c2f4e3
EKF: Fix posix build error
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Memset cannot be used on a class like this. Setting the time elements to zero achieves the desired result.
2016-04-05 18:57:21 -07:00
Lorenz Meier
6b3ad03419
Merge pull request #86 from CarlOlsson/small_airspeed_fix
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Small airspeed fix
2016-04-05 16:38:37 -07:00
Paul Riseborough
430d4b1cf8
EKF: ensure data in buffers is zero at startup
2016-04-05 22:23:37 +02:00
Paul Riseborough
470098e182
EKF: update default tuning parameters
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Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
2016-04-05 22:23:37 +02:00
Paul Riseborough
eaf94935f0
EKF: Fix bug in initialisation of height and magnetic field
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This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
2016-04-05 22:23:37 +02:00
Paul Riseborough
03eac2f25e
EKF: Apply covariance prediction derivation changes
2016-04-05 22:23:37 +02:00
CarlOlsson
8678a939e2
removed reinitialization of intermediate variables
2016-04-05 14:18:47 +02:00
Roman Bapst
2632c930f7
Merge pull request #85 from CarlOlsson/add_error_reporting_tas
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added fault status reporting
2016-04-04 18:52:06 +02:00
CarlOlsson
eee6f1048f
Changed vtaspred threshold
2016-04-04 16:27:06 +02:00
CarlOlsson
3ad5b52aea
removed comment
2016-04-04 16:26:46 +02:00
CarlOlsson
616725410d
updated calculation
2016-04-04 16:26:13 +02:00
CarlOlsson
ec9902d802
added fault status reporting
2016-04-04 16:21:12 +02:00
CarlOlsson
1ea26b406a
change name to true_airspeed
2016-04-04 16:10:52 +02:00
Roman Bapst
27b894540e
put airspeed fusion logic but don't actually call it yet
2016-03-30 17:01:03 +02:00
Roman Bapst
1b7115dec9
increased airspeed fusion rate to 12.5Hz
2016-03-30 17:01:03 +02:00
CarlOlsson
f5a9afd278
moved init
2016-03-30 17:01:03 +02:00
CarlOlsson
f990d99790
fixed bug
2016-03-30 17:01:03 +02:00
Paul Riseborough