kamilritz
f99dbd8ca3
Improve naming and brackets
2020-01-07 08:14:59 +11:00
kamilritz
1c68709949
Rename mag ambiguous mag abbreviations with magnitude
2020-01-07 08:14:59 +11:00
kamilritz
a24aaad861
CleanUp GPS drift checks
2020-01-07 08:14:59 +11:00
kamilritz
c6e3f389d2
Replace calculation of earth NED rotation vector
2020-01-07 08:14:59 +11:00
kamilritz
9f053cb8c1
Simplify covariance getters
2020-01-02 19:26:57 +11:00
Paul Riseborough
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
2020-01-02 19:26:57 +11:00
Paul Riseborough
166d260058
EKF: Provide auto-code output that uses (row, col) syntax for covariance matrix
2020-01-02 19:26:57 +11:00
kamilritz
92ba618f57
Improve on flash memory usage
2020-01-02 19:26:57 +11:00
kamilritz
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
2020-01-02 19:26:57 +11:00
Lorenz Meier
a4a694dd87
Disable Coverage option until GCC9 is default
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This would simplify coverage builds, but is not widely available yet.
2020-01-01 17:03:04 +01:00
Lorenz Meier
3d3267ed1f
Fix CMake configuration for coverage tests on Mac OS
2020-01-01 13:50:25 +01:00
Daniel Agar
57144beb98
gitignore update for in tree cmake builds
2019-12-31 11:18:53 -05:00
kamilritz
490c749f80
Revert if statement swap in resetMagHeading
2019-12-18 10:06:31 +01:00
kamilritz
a6bbafc7b0
Remove unnecessary initialiseCovariance
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It is already called in reset()
2019-12-18 09:46:32 +01:00
kamilritz
ef9f1053d0
Random improvements
2019-12-18 09:46:32 +01:00
kamilritz
7d3814b1d8
Add orientation initialization tests
2019-12-18 09:46:32 +01:00
kritz
01495ede97
Clean initialiseFilter function ( #687 )
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* Clean initialiseFilter
* Add const qualifiers
2019-12-17 13:36:28 +01:00
kritz
532c9abd4a
Expand test framework and test cases ( #685 )
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* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
2019-12-17 11:35:45 +01:00
kritz
6c25ac5731
Tilt Initialisation: Average Filter -> LowPass Filter ( #686 )
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* Tilt Initialisation: Average Filter -> LowPass Filter
* Add _is_first_imu_sample variable
* Remove not needed comments
2019-12-17 11:01:25 +01:00
Daniel Agar
98a1aae494
EKF: use Matrix cross product
2019-12-17 09:35:08 +01:00
kamilritz
0831c158f2
Move time update to sensor base class
2019-12-16 13:40:01 +01:00
kamilritz
1832bedd13
run_seconds
2019-12-16 13:40:01 +01:00
kamilritz
39b369d90b
make ekf a shared pointer
2019-12-16 13:40:01 +01:00
kamilritz
f13f2f8452
use shared pointer
2019-12-16 13:40:01 +01:00
kamilritz
00cd720a66
Change folder name
2019-12-16 13:40:01 +01:00
kamilritz
b9dd1e54c5
Change file names
2019-12-16 13:40:01 +01:00
kamilritz
2d2edd90e3
ECL Unit Test Clean Up
2019-12-16 13:40:01 +01:00
kamilritz
6b25dbd6c7
SensorSimulator
2019-12-16 13:40:01 +01:00
kamilritz
85e0e6e89c
Remove resetStates(AndCovariances) function
2019-12-13 16:50:56 +01:00
kamilritz
64652f523b
Improve quality of comments
2019-12-12 08:48:10 +01:00
kamilritz
1bf09fd370
Remove EKF prefix from logged messages
2019-12-12 08:48:10 +01:00
kamilritz
88c4929c96
Use helper function to switch to gps height
2019-12-11 17:23:45 +02:00
kamilritz
042d9b6615
Remove dangerous _primary_hgt_source variable
2019-12-11 17:23:45 +02:00
kamilritz
66f707ede0
Remove non enterable if statement
2019-12-11 17:23:45 +02:00
kamilritz
cd030e7cd2
Remove switch to ev hgt during filter initialization
2019-12-11 17:23:45 +02:00
kamilritz
4bc6ae69ae
Remove if statement that can not be entered
2019-12-11 17:23:45 +02:00
kamilritz
6941777e17
Remove obsolete vision sample counter during initialization
2019-12-11 17:23:45 +02:00
kamilritz
181303488c
Log height innovation sensor specific
2019-12-05 20:09:34 +11:00
kamilritz
f32fce28a3
Fix gps vertical observation variance
2019-12-05 20:09:34 +11:00
kamilritz
ecd199d5d0
Fix vel pos test ratio
2019-12-05 20:09:34 +11:00
kamilritz
2df2dede2f
Fix variance vs stdDev bug
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(cherry picked from commit 0faea89da2a3326d070a6ecca93ec52ec3e29591)
2019-12-05 20:09:34 +11:00
kamilritz
3923c5fecb
Add get*innovation* functions as overide
2019-12-05 20:09:34 +11:00
kamilritz
07e804676c
Rename IMU biases
2019-12-05 20:09:34 +11:00
kamilritz
dae8c2f8dc
Group velocity and position as a 3d vector
2019-12-05 20:09:34 +11:00
kamilritz
beedf1ce4f
Add print statement to reset vel or pos function
2019-12-05 20:09:34 +11:00
kamilritz
5c038a3b43
Add stop*Fusion function
2019-12-05 20:09:34 +11:00
kamilritz
d5dc6bb8ea
Clean get*innov* interface
2019-12-05 20:09:34 +11:00
kamilritz
86b9079bdc
Refactoring velPos fusion
2019-12-05 20:09:34 +11:00
bresch
6b5f011bc2
ekf: use PDOP instead of GDOP as the TDOP (part of GDOP) is usually not available
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PDOP is the position dillution of precision and is given by sqrt(VDOP^2+HDOP^2)
2019-11-25 17:18:40 -05:00
Daniel Agar
362a2dfa08
remove unnecessary <cmath> include
2019-11-22 11:16:51 -05:00
