Paul Riseborough
3758c5a09d
EKF: down-sample drag specific force data
2017-04-16 13:07:12 +02:00
Paul Riseborough
465b145929
EKF: Add multi-rotor drag model for wind estimation
2017-04-16 13:07:12 +02:00
Paul Riseborough
2f2ac5be43
EKF: Improve protection against severe IMU accel errors
...
Use vertical velocity and position innovation failure to detect bad accelerometer data caused by clipping or aliasing which can cause large vertical acceleration errors and loss of height estimation. When bad accel data is detected:
1) Inhibit accelerometer bias learning
2) Force fusion of vertical velocity and height data
3) Increase accelerometer process noise
2017-04-07 08:47:13 +10:00
Paul Riseborough
040639837e
EKF: Use common timeout test for reporting deadreckoning
...
Use a parameter to set the time-out threshold
Use a class variable for the time-out flag
Clean up comments
2017-03-15 07:57:38 +01:00
Paul Riseborough
6561edb9a5
EKF: Clean up terrain estimation functionality.
...
This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
2017-02-22 14:12:05 +01:00
Paul Riseborough
cf9c8de167
EKF: Add arbitrary pitch offset for range sensor
2017-02-22 14:12:05 +01:00
Paul Riseborough
21270bb06a
EKF: Use last known position when resuming OF aiding
2017-01-17 08:58:01 +11:00
Paul Riseborough
3c4c09593f
EKF: Rationalise console messages
...
Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
2016-12-28 10:39:47 +01:00
Paul Riseborough
a776b2c549
EKF: Fix bug preventing reset to GPS position when using optical flow
2016-11-26 10:28:58 +01:00
Paul Riseborough
460c9e5250
EKF: Don't try to fuse air data if not in normal aiding mode
...
Taking off before passing GPS checks would cause airspeed or sideslip to be fused when the filter was still using a constant position assumption. This would cause large airspeed innovations, invalid wind estimates and degrade filter performance after GPS was gained and position and velocity was reset.
2016-11-26 10:28:58 +01:00
Paul Riseborough
951c8b77af
EKF: Improve wind state reset logic
...
Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
2016-11-05 12:19:01 +01:00
Paul Riseborough
352b4ca177
EKF: Allow sideslip fusion with airspeed fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
a9182259a5
fixed bug in beta fusion
2016-11-05 12:19:01 +01:00
CarlOlsson
e1d9d503e3
updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated
2016-11-05 12:19:01 +01:00
CarlOlsson
dec686afd7
updated parameters
2016-11-05 12:19:01 +01:00
CarlOlsson
5205a8198b
added function to control when to fuse beta
2016-11-05 12:19:01 +01:00
Paul Riseborough
8aee45dd96
EKF: Fix bug causing repeated resets if GPS sensor disconnected
2016-11-05 09:36:06 +11:00
Paul Riseborough
968cfae632
EKF: Fix bug preventing fallback from GPS mode if GPS is lost
2016-10-25 08:32:01 +11:00
Roman
63cf3d50be
ekf gps reset: do not bother checking for need of reset if gps is not
...
available
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-24 11:45:36 +02:00
Roman
c5f750dcca
ekf reset: more granular reset / timeout strategy for gps fusion
...
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-24 11:40:12 +02:00
Roman
f80b3481a4
reset the newest output sample for all possible resets
...
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-12 08:54:38 +02:00
CarlOlsson
51c8715638
fixed issue with airspeed never fused
2016-08-11 15:26:21 +02:00
Paul Riseborough
d1d56d9e5e
EKF: Add logic to to control wind state estimation
2016-08-11 15:26:21 +02:00
Roman Bapst
df0f8fed45
fixed wrong condition on which gps height would be fused ( #180 )
...
- this solves the issue where height innovations would jump
between two regimes
Signed-off-by: Roman <bapstroman@gmail.com>
2016-08-05 14:45:48 +02:00
Paul Riseborough
eb2afc522d
EKF: fix bug preventing use of baro as a backup height source
2016-06-30 17:06:32 +10:00
Paul Riseborough
573f252b73
EKF: fix bug preventing GPS use as a backup height source
2016-06-30 17:06:32 +10:00
Paul Riseborough
5f9752cac8
EKF: Improve function names
2016-06-30 17:06:32 +10:00
Paul Riseborough
7bc9217f00
EKF: Clean up control of observation fusion
...
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
2016-06-30 17:06:32 +10:00
Paul Riseborough
3c84d37175
Merge pull request #156 from PX4/fix_printfs
...
EKF: use ECL printfs everywhere
2016-06-07 09:45:00 +10:00
Paul Riseborough
081e17729c
EKF: delay commencement of 3D mag fusion until clear of ground
...
Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
2016-06-06 21:59:46 +10:00
Paul Riseborough
f08aee0a7d
EKF: Fix covariance index bug
2016-06-04 00:36:07 +10:00
Julian Oes
b8e2f79005
EKF: correct include paths
2016-06-02 16:29:22 +01:00
Julian Oes
ecfd8c867a
EKF: use ECL printfs everywhere
...
- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
2016-06-02 16:07:26 +01:00
Paul Riseborough
6a55d908c5
EKF: replace reset event times with event counters
...
Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
2016-06-01 17:13:00 +10:00
Paul Riseborough
3ec9221c18
EKF: update output observer and capture reset event for EV yaw resets
2016-06-01 17:13:00 +10:00
Paul Riseborough
9f81b8f09e
EKF: provide reset protection for external vision height
2016-05-27 13:15:53 +10:00
Paul Riseborough
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
Carl Olsson
0fafc49a49
fixed typos ( #147 )
2016-05-22 17:40:43 +02:00
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
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
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
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
ac9b7a3df6
EKF: Ensure use of EV aiding inhibits use of other height sources
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
81469d6621
EKF: Add position, height and velocity reset for EV aiding
2016-05-14 21:17:29 +10:00
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
