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Author SHA1 Message Date
mcsauder
f9be23933b Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4. 2016-03-05 01:58:58 -07:00
Paul Riseborough
b163efeae2 Merge pull request #72 from PX4/pr-MagFusionBug 
Fix bug in declination fusion and standardise covariance update
 2016-03-05 11:34:19 +11:00
Paul Riseborough
5242af84af EKF: Standardise covariance update and use static arrays for large matrices 2016-03-05 08:58:19 +11:00
Paul Riseborough
1414d591ce EKF: Fix bug in declination fusion indexing 2016-03-05 08:43:33 +11:00
Daniel Agar
2108466a00 initialize ECL_L1 variables 2016-03-03 11:22:07 +01:00
Roman Bapst
b2744f965d use in_air flag from land detector to determine if we are on the ground 2016-03-03 10:53:39 +01:00
Paul Riseborough
569886a4fc EKF: Fix bug in velocity and position innovation consistency checks 2016-03-03 17:15:22 +11:00
mcsauder
f9e3db0504 Move variable initializations from header file to constructor to allow C99 compliance. 2016-03-02 08:42:38 +01:00
Paul Riseborough
d8627c6aaf EKF: Reset the vertical position states if height fusion times out 2016-03-02 08:39:07 +01:00
Paul Riseborough
f7a53d69f2 EKF: Improve height reset function 
Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
 2016-03-02 08:39:07 +01:00
Paul Riseborough
a6da73fa83 EKF: Add missing div0 protection 2016-03-01 18:03:35 +11:00
Paul Riseborough
d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
Paul Riseborough
7c83ac4b6d EKF: Use heading fusion as default for startup and ground operation 2016-03-01 15:35:17 +11:00
Paul Riseborough
57d4064d7b EKF: Increase default heading observation noise 
Improves robustness when operating in a bad magnetic field environment
 2016-03-01 15:28:53 +11:00
Paul Riseborough
97df006a6a EKF: Update direct heading fusion 
Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
 2016-03-01 15:25:22 +11:00
Paul Riseborough
ea29e39e5b EKF: Updated derivation of Jacobians for direct heading measurement 
Adds an alternative using a 312 Euler sequence.
 2016-03-01 15:21:36 +11:00
Paul Riseborough
2c9a814de1 Merge pull request #64 from mcsauder/master 
Additional filter variable initializations required to fully reset the filter variables
 2016-02-26 23:06:56 +11:00
Paul Riseborough
78d6f6941c Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting 
EKF: Improve Position Accuracy Reporting
 2016-02-26 22:48:44 +11:00
Paul Riseborough
f058fc817f Merge pull request #63 from PX4/att_reset 
Attitude reset after heading reset
 2016-02-26 22:35:14 +11:00
mcsauder
5fb48a2e7b Merge remote-tracking branch 'upstream/master' 2016-02-25 22:51:58 -07:00
mcsauder
5fec0df70d Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization. 2016-02-25 22:51:14 -07:00
Roman Bapst
9192ced7bb do not reset output attitude state after heading reset to avoid jumps in attitude 2016-02-25 18:20:29 +01:00
Lorenz Meier
cd5857e900 Add vibration magnitude estimation 2016-02-25 16:54:24 +01:00
Paul Riseborough
cd0cac066a EKF: Calculate and publish horizontal and vertical position accuracy 
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
 2016-02-25 10:38:07 +11:00
Paul Riseborough
a30830a7a9 EKF: Scale position observation noise with GPS quality 
This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
 2016-02-25 10:16:32 +11:00
Paul Riseborough
5483e7a477 Merge pull request #60 from PX4/pr-ReduceMagModeSwitchKick 
EKF: Fix Bug Causing Roll/pitch Disturbances On Mag Fusion Mode Switch
 2016-02-25 09:42:18 +11:00
Paul Riseborough
f55a0bff53 EKF: Fix code style 2016-02-25 08:17:50 +11:00
Paul Riseborough
5b5bddebea EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode 2016-02-25 08:16:42 +11:00
Paul Riseborough
2d09a5f3ac EKF: Don't reset yaw and mag field states when not necessary 2016-02-25 08:16:42 +11:00
Paul Riseborough
380db7ebef EKF: Reset angle error covariance after yaw and mag field reset 
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
 2016-02-25 08:16:42 +11:00
Paul Riseborough
e938475acc Merge pull request #59 from PX4/pr-ImprovedStartup 
Improvements to EKF startup - partially replaces PR#57
 2016-02-24 18:27:12 +11:00
Paul Riseborough
0ad5329caf EKF: Update comments in heading fusion to clarify calculation of magnetic heading 2016-02-24 12:06:11 +11:00
Paul Riseborough
36affe3cd8 EKF: Fix bug causing incorrect initial roll when inverted 2016-02-24 11:56:12 +11:00
Paul Riseborough
016695fc3e EKF: Reduce startup transients 
Update initial state variance values
 2016-02-24 11:48:42 +11:00
Siddharth Bharat Purohit
9c7a3f366c Merge pull request #54 from mcsauder/master 
Address C99 compatibility issues by relocating variable initialization. - Replaces PR#50
 2016-02-23 15:53:04 -08:00
mcsauder
6613335937 Added constexpr back from const var type. 2016-02-23 16:15:52 -07:00
mcsauder
342010c113 Update c style array initialization to attempt to pass Travic CI build tests. 2016-02-23 15:52:02 -07:00
mcsauder
48e80e9e3e Correct C style array initialization. 2016-02-23 15:16:40 -07:00
mcsauder
f9f00fa52b Remove unnecessary include. 2016-02-23 14:00:39 -07:00
mcsauder
ccb5736353 Spaces to tab. 2016-02-23 19:58:30 -07:00
mcsauder
a4cecb1704 Match variable initialization order difference with upstream. 2016-02-23 19:57:27 -07:00
mcsauder
79d07c831f Convert spaces to tabs to match upstream. 2016-02-23 19:53:55 -07:00
mcsauder
6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder
fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
Siddharth Bharat Purohit
237ecfef1a Add travis build check badge 2016-02-22 23:49:58 -08:00
Roman Bapst
8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
Paul Riseborough
35865048a2 Merge pull request #55 from PX4/pr-FixYawFusionBug 
Fix bug in heading fusion and add new method for ground/indoor use
 2016-02-21 09:41:18 +11:00
Paul Riseborough
70a3b91217 EKF: Update magnetometer fusion derivations 2016-02-20 20:09:15 +11:00
Paul Riseborough
a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
mcsauder
4ce4724105 Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables. 2016-02-19 23:57:06 -07:00