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bresch
904bf8ef9f
At each new valid range measurement, the time derivative of the distance to the ground is computed and compared with the estimated velocity. The average of a normalized innovation squared statistic check is used to detect a bias in the derivative of distance measurement, indicating that the distance measurements are kinematically inconsistent with the filter.
66 lines
2.3 KiB
CMake
66 lines
2.3 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name ECL nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(ecl_EKF
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airspeed_fusion.cpp
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baro_bias_estimator.cpp
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control.cpp
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covariance.cpp
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drag_fusion.cpp
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ekf.cpp
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ekf_helper.cpp
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EKFGSF_yaw.cpp
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estimator_interface.cpp
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fake_pos_control.cpp
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gps_checks.cpp
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gps_control.cpp
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gps_fusion.cpp
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gps_yaw_fusion.cpp
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height_fusion.cpp
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imu_down_sampler.cpp
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mag_control.cpp
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mag_fusion.cpp
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optflow_fusion.cpp
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range_finder_consistency_check.cpp
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sensor_range_finder.cpp
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sideslip_fusion.cpp
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terrain_estimator.cpp
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utils.cpp
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vel_pos_fusion.cpp
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zero_velocity_update.cpp
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)
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add_dependencies(ecl_EKF prebuild_targets)
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target_link_libraries(ecl_EKF PRIVATE geo world_magnetic_model)
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target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
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