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
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
CarlOlsson
4301e1105b
added commas
2016-03-30 17:01:03 +02:00
CarlOlsson
81fc086b76
adopted ekf_interface.h
2016-03-30 17:01:03 +02:00
CarlOlsson
d440c883b5
adopted ekf_interface.cpp
2016-03-30 17:01:03 +02:00
CarlOlsson
f8878d41dc
adopted ekf_helper.cpp
2016-03-30 17:01:03 +02:00
CarlOlsson
6bb2f7638c
adopted ekf.h
2016-03-30 17:01:03 +02:00
CarlOlsson
0918fa04c7
adopted ekf.cpp
2016-03-30 17:01:03 +02:00
CarlOlsson
92abf93c8f
adopted common.h
2016-03-30 17:01:03 +02:00
CarlOlsson
0fb1e0578b
added function for fusing airspeed
2016-03-30 17:01:03 +02:00
Paul Riseborough
400a6e12ba
EKF: Ensure all data in buffers is initialised
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This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
2016-03-20 15:14:16 +11:00
Paul Riseborough
064a0e4dbc
EKF: Don't use GPS to set position noise when not using GPS
2016-03-16 20:12:36 +11:00
Paul Riseborough
c23d72ba29
EKF: Ensure filter control modes are correctly initialised
2016-03-16 17:22:27 +11:00
Paul Riseborough
9f3b1351f7
EKF: Don't initialise velocity to GPS on initial alignment
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For initial alignment the velocity and position should start at zero
2016-03-16 17:20:57 +11:00
Paul Riseborough
687fcc70be
EKF: Explicitly define type conversion for GPS height
2016-03-16 17:18:20 +11:00
Paul Riseborough
e334a5dc57
EKF: Add check for NaN's on attitude states
2016-03-16 13:43:21 +11:00
Paul Riseborough
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
Paul Riseborough
63b0cf4360
EKF: Fix baro height offset bug
2016-03-14 15:51:15 +11:00
Paul Riseborough
49023f3d7e
EKF: fix travis build error
2016-03-13 21:56:28 +11:00
Paul Riseborough
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
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This prevents the possibility of output transients if alignment is delayed.
2016-03-13 21:17:51 +11:00
Paul Riseborough
d2407c3463
EKF: code style updates
2016-03-13 21:17:51 +11:00
Paul Riseborough
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
2016-03-13 21:17:51 +11:00
Paul Riseborough
370f643f42
EKF: Enable use of range finder for primary height source
2016-03-13 18:44:34 +11:00
Paul Riseborough
109e0e6dfc
EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
2016-03-11 11:03:43 +11:00
Paul Riseborough
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
2016-03-11 11:03:43 +11:00
Paul Riseborough
48f980b054
EKF: Fix syntax causing posix build to fail
2016-03-11 11:03:43 +11:00
Paul Riseborough
eab0ef4266
EKF: Update default process noise for terrain estimator
2016-03-11 11:03:43 +11:00
Paul Riseborough
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
2016-03-11 11:03:43 +11:00
Paul Riseborough
1a2da887ab
EKF: Fix bug in calculation of terrain estimator Kalman gain
2016-03-11 11:03:43 +11:00
Paul Riseborough
cc5512905a
EKF: prevent optical flow, GPS and baro fusion from blocking each other
2016-03-11 11:03:43 +11:00
Paul Riseborough
ffebaf384f
EKF: Set initial optical flow fusion monitor outputs to zero
2016-03-11 11:03:43 +11:00
Paul Riseborough
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
2016-03-11 11:03:43 +11:00
Paul Riseborough
dd1d58bab5
EKF: Remove unnecessary matrix operations from optical flow fusion
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The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
2016-03-11 11:03:43 +11:00
Paul Riseborough
b3b0f1347a
EKF: Make normal GPS mode the default
2016-03-11 11:03:43 +11:00
Paul Riseborough
d97d308ca7
EKF: Add control of optical flow and range finder fusion
2016-03-11 11:03:43 +11:00
Paul Riseborough
836fe39070
EKF: Update external interface functions to support optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough
2ff338048d
EKF: Add support for range-finder fusion as primary height reference
2016-03-11 11:03:43 +11:00
Paul Riseborough
2c2850c0ce
EKF: Add functions to get position and velocity state variance
2016-03-11 11:03:43 +11:00
Paul Riseborough
32b03819ef
EKF: Add function to calculate global position validity
2016-03-11 11:03:43 +11:00
Paul Riseborough
270451e17b
EKF: Update height reset to support range finder height use
2016-03-11 11:03:43 +11:00
Paul Riseborough
dca186c6e8
EKF: Add required declarations for optical flow
2016-03-11 11:03:43 +11:00
Paul Riseborough