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Author SHA1 Message Date
Paul Riseborough
eaae95fdc4 Merge pull request #160 from priseborough/pr-ekf2Improvements 
EKF: clean up fusion control logic
 2016-06-30 17:18:14 +10:00
Paul Riseborough
f5e9ea1626 EKF: Prevent potential divide by zero 2016-06-30 17:06:32 +10:00
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
Beat Küng
9a95898414 gps_message: remove time_usec_vel from struct (unused) 2016-06-27 10:12:23 +02:00
Roman Bapst
1b394460a3 fix comment about filter bias states 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst
bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Lorenz Meier
74a77b45b2 Add DOI 2016-06-12 11:51:54 +02:00
Paul Riseborough
16bdbebdc6 Merge pull request #161 from PX4/pr-resetFix 
do not return early in velocity reset method
 2016-06-08 17:23:09 +10:00
Roman
703fb4e31b do not return early in velocity reset method otherwise 
some code will not be executed
 2016-06-08 07:51:18 +02:00
Paul Riseborough
928a7dd059 Merge pull request #157 from PX4/pr-ekf2ResetInterface 
Change state reset information interface
 2016-06-08 14:18:31 +10:00
Paul Riseborough
2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough
e72788bd0f Merge pull request #159 from priseborough/pr-ekf2MagBugFix 
EKF: Fix critical bugs in mag fusion and yaw reset
 2016-06-08 14:11:47 +10:00
Paul Riseborough
f26aca55a1 EKF: Fix bug in quaternion covariance initialisation function 
The covariances between quaternion and non-quaternion states were not being updated
 2016-06-08 13:23:30 +10:00
Paul Riseborough
b3baab64f2 EKF: Updates to 3-axis mag fusion auto-code 
The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
 2016-06-08 12:56:59 +10:00
Paul Riseborough
21168f9929 EKF: fix bug in 3-axis mag fusion innovation test 
The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
 2016-06-08 11:58:33 +10:00
Paul Riseborough
99b34f0df4 EKF: Only reset necessary terms when mag fusion covariance reset required 
Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
381d99aed6 EKF: Inform console of serious fusion numerical errors 2016-06-08 11:58:33 +10:00
Paul Riseborough
dbfe8c0242 EKF: remove approximation in mag fusion innovation variance calculation 
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
 2016-06-08 11:58:33 +10:00
Paul Riseborough
79228352e9 EKF: Reset mag and wind state variances to 'reasonable' values 
If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery
 2016-06-08 11:58:33 +10:00
Paul Riseborough
34ffffa021 EKF: Prevent use of non time-stamped invalid data during initialisation 
Fixes bad height initialisation seen intermittently with snapdragon
 2016-06-08 11:56:07 +10:00
CarlOlsson
eded0a8f7e activate tas fusion, off by default 2016-06-07 13:49:17 +02:00
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
Roman Bapst
670c6ca019 change state reset information interface for more convenient handling 
on firmware side
 2016-06-06 13:22:20 +02:00
Paul Riseborough
f08aee0a7d EKF: Fix covariance index bug 2016-06-04 00:36:07 +10:00
Julian Oes
ab0ac05b47 ecl.h: guard PX4 defines with ifdef 2016-06-02 16:29:55 +01:00
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
8bfdb0430c Merge pull request #150 from PX4/pr-ekf2StatusReporting 
EKF: Publish full reset and innovation consistency check status data
 2016-06-02 07:17:49 +10:00
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
70f76e1a6c EKF: publish innovation consistency check fail status 2016-06-01 17:13:00 +10:00
Paul Riseborough
e371a303a9 EKF: publish the quaternion reset event 2016-06-01 17:13:00 +10:00
Paul Riseborough
81ca167da8 EKF: align output observer to EKF states on startup 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
9ec09f5f4e EKF: update output observer and capture reset event for magnetic heading resets 2016-06-01 17:13:00 +10:00
Paul Riseborough
2b0d5c28f0 EKF: capture full quaternion change for reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
b2e432e211 EKF: publish position and velocity reset data 2016-06-01 17:13:00 +10:00
Paul Riseborough
733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough
aca0336392 EKF: update vertical position and velocity reset capture 
Use reset event struct members instead of separate variables
 2016-06-01 17:13:00 +10:00
Paul Riseborough
0605c88ecc EKF: capture horizontal position reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
e3a1b4a3b3 EKF: capture velocity reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
4237269fab EKF: add struct to capture state reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough
65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough
79705da7e6 EKF: make output predictor states consistent with position reset 2016-06-01 17:13:00 +10:00
Paul Riseborough
54d90261d5 EKF: make output predictor states consistent with velocity reset 2016-06-01 17:13:00 +10:00
Paul Riseborough
52229da089 EKF: capture optical flow innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough
d80e71a499 EKF: capture HAGL innovation test failures 2016-06-01 17:13:00 +10:00