feb4db6347
EKF: protect against large IMU errors during initial tilt alignment
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Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
2016-05-08 17:54:45 +10:00
00973d6215
EKF: fix pos/vel fusion innovation variance bug
2016-05-08 17:51:47 +10:00
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
2016-05-08 16:03:21 +10:00
724280fd1f
EKF: move calculation of optical flow observation variance into a function
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Allows it to be used when calculating initial state variance
2016-05-08 15:40:06 +10:00
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
2016-05-08 10:30:40 +10:00
c66ed7b662
EKF: Add interface method for filter fault status
2016-05-07 21:18:00 +10:00
020b87933e
EKF: replace fault status struct with a union to facilitate logging
2016-05-07 21:11:16 +10:00
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
0c6a367e1b
EKF: fix Travis build error
2016-05-07 17:45:49 +10:00
22f0f52bf1
EKF: fix travis build error
2016-05-07 17:06:45 +10:00
9e53ff2f80
EKF: Improve protection against bad optical flow fusion
2016-05-07 14:23:56 +10:00
1126048a93
EKF: Improve protection against bad airspeed fusion
2016-05-07 14:23:38 +10:00
c8d95586e7
EKF: Improve protection against bad magnetometer fusion
2016-05-07 14:23:20 +10:00
310bd97080
EKF: Improve protection against bad pos vel fusion
2016-05-07 14:22:59 +10:00
da9d894441
EKF: Improvements to covariance reset
2016-05-07 12:57:41 +10:00
d9aeace6ac
EKF: tuning update
2016-05-05 21:23:03 +10:00
f1b7e7714e
EKF: Make average update rate of EKF closer to target
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With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
2016-05-05 21:23:03 +10:00
1daa6c7866
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
fc6c0c7ebf
EKF: Update covariance prediction
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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
2016-05-05 21:23:03 +10:00
ecaffe63af
EKF: update tuning defaults
2016-05-05 21:23:03 +10:00
7a74d58591
EKF: reduce initial accel bias uncertainty
2016-05-05 21:23:03 +10:00
a7d08d08fc
EKF: Relax tilt alignment check
2016-05-05 21:23:03 +10:00
5523a4f225
EKF: Fix IMU bias compensation scale error in output filter
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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
2016-05-05 21:23:03 +10:00
fd109b00ab
EKF: replace in-line code with existing function
2016-05-05 21:23:03 +10:00
727a43764f
EKF: update initial angle alignment check
2016-05-05 21:23:03 +10:00
bc34b14779
EKF: Initialise height state variance to a value compatible with the measurement
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A large height state variance and small measurement variance can destabilise the filter in the first few seconds after alignment
2016-05-05 21:23:03 +10:00
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
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This also makes the tuning less sensitive to changes in the EKF update rate.
2016-05-05 21:23:03 +10:00
799865c934
EKF: update default tuning parameters
2016-05-05 21:23:03 +10:00
f01f4ae4b1
EKF: tidy up mag declination fusion
2016-05-05 21:23:03 +10:00
0d31aad33a
EKF: Fix bad limit on magnetometer noise parameter
2016-05-05 21:23:03 +10:00
7069fb7a04
EKF: refresh auto code for mag fusion
2016-05-05 21:23:03 +10:00
ffea65e1a4
EKF: fix bug in state prediction
2016-05-05 21:23:03 +10:00
63f093a10a
EKF: Update upper limits for state variances
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This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction
2016-05-05 21:23:03 +10:00
26a51c667d
EKF: Improve robustness to initial gyro bias errors
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Allows for ~6 deg/sec of startup bias
2016-05-05 21:23:03 +10:00
7530e30012
EKF: Improve IMU data collection
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Use IMU driver published delta angle integration time to determine when enough data has been accumulated.
Perform basic first order sculling corrections on delta velocity data
Comment steps to make make method clearer
2016-05-05 21:23:03 +10:00
f23f0b1035
EKF: fix bugs in stationary process model covariance prediction
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Noise variance for stationary states was being overwritten by the covariance prediction operations for the kinematic states
Unwanted states could end up with non-zero covariance values
The forced symmetry operation was being applied too late to be effective
2016-05-05 21:23:03 +10:00
a373ada858
EKF: explicitly define floating point type in hardcoded constants
2016-05-05 21:23:03 +10:00
a189c60d33
EKF: update code fragment text files
2016-05-05 21:23:03 +10:00
f4e84a2234
EKF: fix axis label error in comments
2016-05-05 21:23:03 +10:00
57d3036ee7
EKF: update derivation files
2016-05-05 21:23:03 +10:00
82da832816
EKF: tidy up Kalman gain calculations
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Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
2016-05-05 21:23:03 +10:00
311d046a26
EKF: Enable optional activation of XY delta velocity bias estimation
2016-05-05 21:23:03 +10:00
572c2280bd
EKF: tidy up covariance prediction
2016-05-05 21:23:03 +10:00
54e713969d
EKF: Fix rebase error
2016-05-05 21:23:03 +10:00
67d23948b5
EKF: preliminary re-tune
2016-05-05 21:23:03 +10:00
03c35266ef
EKF: remove unused parameter
2016-05-05 21:23:03 +10:00
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
22d18d638c
enable Wshadow
2016-05-04 19:45:40 -04:00
c6775b5bf2
Merge pull request #118 from PX4/fix_member_init
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ekf: initialize _terrain_var
2016-05-03 10:26:48 +10:00
f2dda3c183
ekf: initialize _terrain_var, fixes access to uninitialized value
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in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the
valgrind output:
==15439== Thread 14 ekf2:
==15439== Conditional jump or move depends on uninitialised value(s)
==15439== at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so)
==15439== by 0x4D1AF0: Ekf::get_terrain_vert_pos(float*) (terrain_estimator.cpp:135)
==15439== by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655)
==15439== by 0x42BF3D: entry_adapter(void*) (px4_posix_tasks.cpp:103)
==15439== by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so)
==15439== by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)
2016-05-02 17:35:42 +02:00
Paul Riseborough