efd96db49d
Avoid setting 0 to 0
2020-07-16 18:25:06 +02:00
5ef18f8823
Style improvement
2020-07-16 18:25:06 +02:00
01515b9a9c
Replace min(max()) with constrain
2020-07-16 18:25:06 +02:00
b0458fbded
Refactor output buffer updates into separate functions
2020-07-16 18:25:06 +02:00
3d82d822ae
Add const modifier
2020-07-16 18:25:06 +02:00
93011ed52c
Use ternary operator
2020-07-16 18:25:06 +02:00
46a5e6e428
Replace divisions with multiplications
2020-07-02 15:55:24 +02:00
3e3a66e9e9
Remove unnecessary operations
2020-07-02 15:55:24 +02:00
079a699556
Random cleanup
2020-07-02 15:55:24 +02:00
d18ddb3e92
Use ternary operator
2020-07-02 15:55:24 +02:00
122f58b94d
Bug: stop overwriting fault status of index 0 with index 1
2020-07-02 15:55:24 +02:00
9e211d6ca1
Stop overwriting fault status with false if one component is true
2020-07-02 15:55:24 +02:00
e5ddd912a4
Remove not needed else case
2020-07-02 15:55:24 +02:00
430497e2f7
Shift variable definition inside calculateOutputStates
2020-07-02 15:55:24 +02:00
f59343b343
Remove misplaced comment
2020-07-02 15:55:24 +02:00
673b309c45
Fix bug: pos gain used instead of vel gain
2020-07-02 15:55:24 +02:00
2af2696b63
Revert if-else condition to get rid of unnecessary indentation
2020-07-02 15:55:24 +02:00
fce4958d4f
Random cleanup
2020-07-02 15:55:24 +02:00
9eea44f4ab
Return type of resets ( #859 )
...
* Reset position/velocity return type is void
* Delete not needed comments
2020-07-02 14:53:59 +02:00
97e54df123
Gps control: add missing consts and reduce variable scope
2020-07-02 13:35:13 +02:00
b0f79caf34
GPS yaw: Extract and refactor GPS yaw control logic
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- Rename GPS yaw fusion functions:
resetGpsAntYaw -> resetYawToGps
fuseGpsAntYaw -> fuseGpsYaw
- Move last fusion time in reset function
2020-07-02 13:35:13 +02:00
7f4fedde6a
GPS Yaw: fix heading initialisation and add unit tests
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When the antennas are not parallel to the x body axis, the GPS message
contains the angular offset but the data is already corrected in the
driver. EKF2 should then not add this offset during the initialisation.
2020-07-02 13:35:13 +02:00
97225fcb74
Use matrix lib inside getState
2020-07-02 09:02:24 +02:00
16a00eae0b
Make Kfusion a Vector24f
2020-07-02 09:02:24 +02:00
356b2f6ffe
Stop setting zero to zero
2020-07-02 09:02:24 +02:00
552bf824ea
Add typedef for Matrix 24 types
2020-07-02 09:02:24 +02:00
5356077a32
Make flow_innov/-var a matrix Vector2f
2020-06-26 08:26:26 +02:00
c2801eb488
Add const modifier and increase matrix library usage
2020-06-26 08:26:26 +02:00
d9afc2f1e8
Remove repeated division by same value
2020-06-26 08:26:26 +02:00
d16b43a2da
Get rid of non functional piece of code
2020-06-26 08:26:26 +02:00
c3653e68ca
Add const modifier
2020-06-26 08:26:26 +02:00
48f0eb16da
Remove uninformative comments
2020-06-26 08:26:26 +02:00
4a69b41015
Increase matrix library usage even more
2020-06-26 08:26:26 +02:00
630be60930
Increase matrix library usage
2020-06-26 08:26:26 +02:00
22274b1d30
Add const modifier
2020-06-26 08:26:26 +02:00
61c139ea95
Remove unused variable
2020-06-26 08:26:26 +02:00
afd4f3f86b
Fix typo
2020-06-26 08:26:26 +02:00
a3706fdcef
Make relative wind computation more compact
2020-06-26 08:26:26 +02:00
b8f937666a
Make mag_innov/-var a Matrix::Vector3f
2020-06-26 08:26:26 +02:00
0ea7cd8360
Attempt to fix CI firmware build test
2020-06-26 07:38:25 +02:00
2927132954
clang-format set BreakBeforeBraces to Linux style
...
- this keeps things consistent with PX4/Firmware astyle
2020-06-25 13:23:52 -04:00
b96c62ed8b
Optionalized build dependency on git
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Signed-off-by: Bill Morris <bill@sevendof.com >
2020-06-25 08:56:26 -04:00
794e6ec3a5
Enforce tabs via editorcofig
2020-06-25 08:55:21 -04:00
e4b44f704b
Update geo_lookup WMM to latest Tue Jun 23 14:15:04 UTC 2020
2020-06-23 10:41:59 -04:00
4b746a3fca
GPS Yaw: add consts and remove fusion starting message
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The fusion status is captured in the status flags; the message is
superfluous, uses flash space and can impact real-time performance
2020-06-23 08:43:48 +02:00
2bafe9df08
GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
...
This fixes the cases where the yaw message from the GNSS receiver would
take more time than the vel/pos. The estimator should wait and not
immediately fall back to an other aiding source after 5sec.
If it never comes, it will never fall back, but this is ok since the
user wants to fly with GPS aiding an not with something else.
2020-06-23 08:43:48 +02:00
51cd63d626
GPS Yaw: fall back to other yaw aiding source in case of bad data
...
If the user selects GPS yaw fusion but that there is no GPS yaw data in
the GPS message or if the fusion is rejected for some time, the GPS yaw
data is declared faulty and the fusion is stopped to allow an other
source of yaw aiding to start.
2020-06-23 08:43:48 +02:00
fe2a9d3018
GPS Yaw: move isfinite checks in control.cpp
2020-06-23 08:43:48 +02:00
3c6790f5d5
GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
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Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
2020-06-23 08:43:48 +02:00
ff8b5ec69d
Extract general functions into utils
2020-06-23 08:18:34 +02:00
kamilritz