Paul Riseborough
f3e34eddc9
EKF: do not attempt to align FW yaw using GPS method if on ground
2017-11-13 07:05:56 +11:00
Paul Riseborough
29d383edbf
EKF: Allow mag field estimates to stabilise before use
2017-11-13 06:55:02 +11:00
Paul Riseborough
363edf5eb9
EKF: Fix yaw reset for fixed wing
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Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
2017-11-13 06:55:02 +11:00
Paul Riseborough
7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat
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EKF: Enable operation with arbitrary External Vision reference frame
2017-11-12 08:35:39 +11:00
Paul Riseborough
5fd006ca48
EKF: remove redundant code
2017-11-11 07:06:01 +11:00
ChristophTobler
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
2017-11-08 11:40:26 +01:00
Paul Riseborough
01d68ef67c
EKF: Enable use of rotated external nav estimates
2017-11-01 08:33:57 +11:00
Paul Riseborough
59f1c3e19e
EKF: Update dead-reckoning definition
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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
2017-10-20 14:44:37 +11:00
Paul Riseborough
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
2017-10-20 14:44:37 +11:00
Paul Riseborough
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
2017-10-20 14:44:37 +11:00
Paul Riseborough
204a218ee6
EKF: Allow dead-reckoning using air data
2017-10-20 14:22:06 +11:00
ChristophTobler
f5fd90533a
fix gps and flow flag handling
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gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
2017-10-20 14:22:06 +11:00
CarlOlsson
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-17 15:08:09 +02:00
Paul Riseborough
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
2017-10-12 14:50:23 +11:00
Paul Riseborough
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
2017-10-12 14:50:23 +11:00
Paul Riseborough
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
2017-10-12 08:02:54 +11:00
ChristophTobler
b7e589b98a
EKF: only fuse optical flow if terrain is valid
2017-10-10 17:51:56 +02:00
CarlOlsson
0a7c3ecbc6
EKF: Parameterize maximum angle for rng fusion
2017-09-26 20:53:48 +02:00
Paul Riseborough
160e4d69c1
Merge pull request #323 from PX4/pr-ekfQuatMultOrder
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EKF: use hamiltonian convention for quaternion multiplication order
2017-09-21 07:49:35 +10:00
Paul Riseborough
1d3e8edc46
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation
2017-09-14 18:34:11 +10:00
Paul Riseborough
dd5b8525c3
EKF: Use hamiltonian convention for quaternion product order
2017-08-31 11:14:02 +02:00
Daniel Agar
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
ChristophTobler
89236ef275
Merge pull request #314 from PX4/pr-check_stuck_rng
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Pr check stuck rng
2017-08-21 07:54:06 +02:00
ChristophTobler
7252284628
Add check for stuck range finder measurements
2017-07-31 17:59:16 +02:00
Paul Riseborough
ce806768b7
EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing
2017-07-31 19:39:07 +10:00
Paul Riseborough
e08da1c599
EKF: Add ability to use EV and GPS data together
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Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
2017-07-26 18:06:18 +10:00
Paul Riseborough
e1fe5b2229
Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""
2017-07-19 17:52:35 +10:00
Paul Riseborough
c887b02f21
Revert "Split get_terrain_vert_pos() into valid and get_vpos"
2017-07-19 17:33:48 +10:00
ChristophTobler
e429ecab17
check if terrain valid instead of initialized
2017-07-17 16:43:23 +02:00
ChristophTobler
517fe8a71f
rng aid: use hysteresis with lower hagl check
2017-07-17 13:36:51 +02:00
ChristophTobler
8ed61ac052
init rng offset with ground clearance param when on ground to avoid noisy init
2017-07-13 17:43:19 +02:00
Paul Riseborough
9ee35e38df
EKF: Don't fallback when optical flow is lost if external vision data is being used
2017-07-13 20:21:41 +09:00
Paul Riseborough
1bb576c197
EKF: Allow fallback to non-aiding mode if external vision is lost.
2017-07-13 20:21:41 +09:00
Isaac
f96685267e
Fixed vision position fusion bug
2017-07-10 13:44:51 +10:00
Paul Riseborough
ec2b54fde7
EKF: Ensure normal yaw alignment using mag is performed if GPS method is not
2017-07-08 11:13:40 +02:00
Paul Riseborough
d446f66105
EKF: Add a fixed wing mode with setter function
2017-07-08 11:13:40 +02:00
Paul Riseborough
f064915889
EKF: Enable planes to recover from bad mag data at start of flight
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Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
2017-07-08 11:13:40 +02:00
Paul Riseborough
eb1e73ec81
Merge pull request #283 from PX4/ekf_matrix_cleanup
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EKF matrix typedef cleanup
2017-07-03 21:02:24 +10:00
Paul Riseborough
dfbc9de48e
Merge pull request #291 from PX4/pr-ekfWindEstBugFix
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EKF: Fix bug affecting wind estimation for planes
2017-07-01 11:06:58 +10:00
Paul Riseborough
59edccca4a
EKF: Fix bug in wind estimation for fixed wing
2017-06-30 10:32:54 +10:00
Paul Riseborough
ba4a311771
EKF: Update comments for wind estimation logic
2017-06-30 10:32:23 +10:00
ChristophTobler
e1274ad28a
move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available
2017-06-29 17:07:58 +02:00
ChristophTobler
0d9e535acb
Use baro if reset to baro from gps and vice versa
2017-06-29 17:07:42 +02:00
ChristophTobler
4a4b0fa604
remove setting rng faulty in ev mode because not checked
2017-06-29 10:01:16 +02:00
ChristophTobler
066c641d61
range aid: switch to baro/gps even if rng aid conditions met and rng faulty
2017-06-29 09:47:02 +02:00
ChristophTobler
2f382c8e0e
if hgt mode is range, switch to baro if range is faulty
2017-06-29 09:47:02 +02:00
ChristophTobler
e4f36215cb
if in range aid mode, check faultiness that otherwise would never change back
2017-06-29 09:47:02 +02:00
ChristophTobler
e800de88b6
remove duplicate
2017-06-29 09:47:02 +02:00
Daniel Agar
c44488fdb8
EKF matrix typedef cleanup
2017-06-19 11:10:01 -04:00
ChristophTobler
1fed209804
fix formatting
2017-06-15 09:10:43 +02:00
