3e8139ff9f
Enable vision velocity fusion
2019-09-24 07:48:46 +10:00
c5abfe626f
remove canonicalize and adapt comments
2019-08-29 08:34:10 +10:00
a2ff415fe4
Fix get frame aligning quaternion function
2019-08-29 08:34:10 +10:00
53eac6e94e
Canonicalize alignment quaternion
2019-08-29 08:34:10 +10:00
933c32c921
Enable local frame alignment also without using it
2019-08-29 08:34:10 +10:00
ea352a6631
Dont use mag suffix for magnitude
2019-08-29 08:34:10 +10:00
05196db79e
Fix alignment of local frame
2019-08-29 08:34:10 +10:00
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
2019-06-17 19:24:55 +10:00
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
2019-06-17 19:24:55 +10:00
ad7f7af03b
ekf: correct quaternion multiplication order
2019-06-17 19:24:55 +10:00
d6351bd7a5
EKF: update comment
2019-06-17 19:24:55 +10:00
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
...
angle- and delta velocity bias variance
- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation
Signed-off-by: Roman <bapstroman@gmail.com >
2019-06-11 19:28:06 +10:00
f0889c1760
EKF: fixed some comment typos
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-18 10:20:33 -04:00
fabd216ca5
EKF: Documentation edits
2019-03-13 08:14:23 +11:00
8d6e8ae078
EKF: update get_mag_decl_deg()
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-13 08:14:23 +11:00
2b17ced405
EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-13 08:14:23 +11:00
1d91785a8e
EKF: correct quaternion order
2019-03-12 19:07:55 +11:00
96c5c14041
EKF: Change the EKF initialization to
...
1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
6cf512f103
EKF: Also update the newest and oldest quaternion estimate in
...
alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
78122b20a6
EKF: fix the rotation direction of the buffered attitude solutions
...
in alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
37339de57c
EKF: remove unused variable
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-03-12 19:07:55 +11:00
4e0e68e905
Ekf: add more useful methods to interface with the covariances ( #543 )
2019-03-09 11:57:35 -05:00
bd1647a7fb
EKF: Rework use of fuseDeclination()
...
Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
2019-01-31 09:53:57 -05:00
d52f53635b
EKF: Save mag field covariance data before reset
2019-01-31 09:53:57 -05:00
708c79eb8f
EKF: Ensure mag field state covariance data is always available for re-use
...
Prevents use of _saved_mag_ef_covmat and _saved_mag_bf_variance before being initialised or when stale.
2019-01-31 09:53:57 -05:00
25148e1b45
EKF: Prevent rapid changes in declination estimate after a reset
...
Ensures that each time the earth field covariance and variance data is reset, that the off-diagonal elements containing earth field declination angle certainty is restored.
2019-01-31 09:53:57 -05:00
6e7c119b31
EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-31 09:53:57 -05:00
0896f7b9bd
EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance()
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-31 09:53:57 -05:00
911d4d8f49
EKF: Fix sign error in increaseQuatYawErrVariance function
2019-01-31 09:53:57 -05:00
ef5a87c1d4
EKF: Rework quaternion yaw reset.
...
Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
2019-01-31 09:53:57 -05:00
fc2a089823
EKF: Add function to un-correlate quaternion states
...
This is necessary after a quaternion reset to prevent incorrect attitude corrections with subsequent observation fusions.
2019-01-31 09:53:57 -05:00
bce1b96d17
EKF: Add function enabling yaw variance to be increased
2019-01-31 09:53:57 -05:00
a5e6191ba7
EKF add clarity brackets to avoid potential confusion
...
- fixes https://github.com/PX4/ecl/issues/555
2019-01-30 09:15:53 -05:00
490888285d
EKF: Remove flag prefix
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-13 23:48:46 +01:00
d223680197
EKF: add flt_mag_align_complete to control_status flags
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com >
2019-01-13 23:48:46 +01:00
c032126745
EKF: Fix bug causing incorrect yaw variance value to be used
...
This bug causes the variance of the Z axis rotation vector uncertainty to not be reset to the correct value.
2019-01-04 11:01:06 +01:00
1a969aed07
EKF: use low pass filtered mag measurements for heading initialization
2018-12-05 10:08:11 +01:00
c49ab760c7
EKF: Allow EKF to start without using mag data when not using earth frame data
2018-11-15 09:03:03 +11:00
acde4ebcc3
EKF: fix comment
2018-11-15 07:16:31 +11:00
4657a9cd21
EKF: Ensure yaw gets reset when declination is set
2018-11-15 07:16:31 +11:00
91f886cb5e
EKF: Add support for use of GPS heading data.
...
Heading data is assumed to be from a dual antenna array at a specified yaw angle offset in body frame, but with the heading data already corrected for antenna offset. The offset is required to apply the correct compensation for combined rotations and to determine when the yaw observation has become badly conditioned.
2018-09-19 06:32:43 +10:00
56b8bb08a1
added a checking for range_aid to determine if we are relying on the range finder as our primary source of height observation ( #491 )
2018-08-24 06:42:58 +10:00
35f628e68f
EKF: Add interface to enable logging of GPS drift metrics ( #490 )
...
* EKF: Add interface to enable logging of GPS drift metrics
* EKF: Fix bug affecting rate of GPS drift publication
Also fix variable name.
2018-08-03 13:24:31 +10:00
4d59c834eb
EKF: Consolidate range finder checking
...
This brings all the range finder data checks (excluding innovation consistency checks) into one place and eliminates the need to perform range checking external to the library.
The hard coded optical flow tilt limit is changed to use the same value as the range finder.
Variable names are changed to make a clear distinction between the max/min values calculated by the stuck range check and the max/min valid values for the sensor.
2018-07-12 18:20:50 +02:00
41953ab582
EKF angle constants in degrees for readability ( #465 )
...
* EKF angle constants in degrees for readability
* EKF make FILTER_UPDATE_PERIOD_MS static constexpr and add FILTER_UPDATE_PERIOD_S
* EKF controlOpticalFlowFusion() use constants and update comments
* EKF controlMagFusion() use angle in degrees
* EKF move earth spin rate to geo and update usage
* EKF: Fix numerical constant error and clean up comments
Comments do not need to contain numerical values when the code makes these clear.
2018-07-05 08:55:22 +10:00
de7c9d85a4
EKF: Handle flow data without valid gyro data
2018-06-12 16:24:25 +10:00
b4d2b8c57d
EKF : introduce new architechture for navigation limits
2018-06-09 22:23:55 +02:00
bdf5b3e003
EKF: Don't assume large position uncertainty when starting optical flow nav
2018-05-08 08:43:56 +10:00
389786ef1b
EKF: Stop using EV for yaw when GPS fusion starts
2018-05-08 08:42:03 +10:00
c5b2f59f57
PX4 style fixes (excluding EKF generated code)
2018-05-03 22:25:36 -04:00
kamilritz