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Author SHA1 Message Date
Paul Riseborough
eae6e8f19c EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4 2019-10-08 20:08:42 +11:00
RomanBapst
4e946d5bcb implemented synthesized magnetometer Z measurement 
- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
 2019-10-08 20:02:16 +11:00
kamilritz
f005e0ea8f Remove deprecated ev_innov_gate param 2019-09-27 10:00:45 -04:00
kritz
b78429aa60 Fix print statements cast error on posix firmware builds (#647) 2019-09-25 14:34:43 +02:00
kritz
4a38f5a2f6 Add timestamp to ECL print statements, (#644) 
which is helpful for EKF replay debugging.
 2019-09-25 11:24:42 +02:00
kritz
bb88d4ce5e Undo wrong comment change 2019-09-24 08:50:29 +10:00
Kamil Ritz
562731936a Update quaternion direction in documentation pdf 2019-09-24 08:50:29 +10:00
kamilritz
8c061fb6a4 Fixing wrong label of quaternion direction 2019-09-24 08:50:29 +10:00
Jannik Beyerstedt
fe3fec413c fix #595 and add new all-in-one conversion script (PX4 only) 2019-09-24 08:20:16 +10:00
kamilritz
83eb326076 Missing posNED 2019-09-24 07:48:46 +10:00
kamilritz
fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz
4f6ca3a74c Replace rest of spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz
cea053820d Remove spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz
1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz
10cbd79db7 Rotate external vision info in reset function if necessary 2019-09-24 07:48:46 +10:00
kamilritz
4511b9ff5e Add missing checks for flags.ev_vel 2019-09-24 07:48:46 +10:00
kamilritz
e7d927c899 Stop using bad GPS when we have vision velocity 2019-09-24 07:48:46 +10:00
kamilritz
bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz
4b30de587f Make vel_pos innov gate variable name clearer 2019-09-24 07:48:46 +10:00
kamilritz
4237d7ccd7 Improve external vision position fusion 2019-09-24 07:48:46 +10:00
kamilritz
3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
kamilritz
149233a9ab Add velocity observations to external vision interface 2019-09-24 07:48:46 +10:00
Matthias Grob
62a1e07512 ecl_EKF: Do not include SquareMatrix from Matrix library 
because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
 2019-09-18 08:42:58 +02:00
Daniel Agar
eddee193d1 update matrix git tag to latest 2019-09-18 08:42:58 +02:00
Julian Kent
4c4c1f2984 Use copyTo for writing to memory blocks 2019-09-18 08:42:58 +02:00
Julian Kent
8cc8db211c Fix copy_quaternion reference in code generation 2019-09-18 08:42:58 +02:00
Julian Kent
8d60f8ba8f Remove direct unsafe access to matrix internal data 2019-09-18 08:42:58 +02:00
Nico van Duijn
c446ee444a EKF: fake rng if faulty on ground 2019-09-18 10:15:37 +10:00
Andreas Antener
4f19d457c4 ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active 2019-09-18 09:27:24 +10:00
Jan Brehmer
93eb1266f6 EKF: reset position when stopping GPS use and EV is active 2019-09-18 08:33:40 +10:00
Nico van Duijn
267195a11b EKF: remove check for faulty flag in fake rng 
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
 2019-09-12 17:45:37 +10:00
Nico van Duijn
933189eac0 EKF: fix rng_faulty flag when sensor is stuck 2019-09-12 17:45:37 +10:00
Nico van Duijn
640e41cba7 EKF: change rangeSample quality to int8_t 2019-09-12 17:45:37 +10:00
Nico van Duijn
a12186c285 terrain_estimator: introduce quality metric in rng 
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
 sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
 2019-09-12 17:45:37 +10:00
Paul Riseborough
3e05fd552e EKF: Compensate for bad range finder data when on ground 2019-09-12 17:45:37 +10:00
bresch
3b32ee4166 Flow aiding - Reset state when flow is enabled only if it is the only 
position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
 2019-09-03 09:58:33 +02:00
kamilritz
be368f3656 Update comment 2019-08-29 08:34:10 +10:00
kamilritz
c5abfe626f remove canonicalize and adapt comments 2019-08-29 08:34:10 +10:00
kamilritz
67512d88ea Update matrix library for CI 2019-08-29 08:34:10 +10:00
kamilritz
a2ff415fe4 Fix get frame aligning quaternion function 2019-08-29 08:34:10 +10:00
kamilritz
53eac6e94e Canonicalize alignment quaternion 2019-08-29 08:34:10 +10:00
kamilritz
933c32c921 Enable local frame alignment also without using it 2019-08-29 08:34:10 +10:00
kamilritz
ea352a6631 Dont use mag suffix for magnitude 2019-08-29 08:34:10 +10:00
kamilritz
05196db79e Fix alignment of local frame 2019-08-29 08:34:10 +10:00
RomanBapst
62fa464e4d WindEstimator: added support for pre-set airspeed scale factor 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer
a7d9c73d4d Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer
09f29dbb07 added option to fix airspeed scaling to 1 2019-08-08 09:15:25 +02:00
Jaeyoung-Lim
d38164fc8e Fix flag for initialization 2019-07-22 10:24:51 +02:00
bresch
e1751188fd EKF - Initialize _deadrekon_time_exceeded to true. 
If no sample have been received, deadrekoning and local position should be invalid.
 2019-06-28 10:52:52 -04:00
Paul Riseborough
a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00