mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 10:53:34 +08:00
Paul Riseborough
4669aa6312
* EKF: Use common rate vector calculation for offset corrections * EKF: Remove duplicate matrix entry calculations * EKF: Create a EKF-GSF yaw estimator class * EKF: add emergency yaw reset functionality * EKF: remove un-used function * EKF: Ensure required constants are defined for all builds * EKF: Fix CI build error * Revert "EKF: remove un-used function" This reverts commit 93005309c7f3794414ad99c86218b3062e00bbd3. * EKF: Replace in-lined Tait-Bryan 312 conversions with function call Also remove unnecessary operations * EKF: Remove unnecessary update of external vision rotation matrix * EKF: Use const * EKF: use const * EKF: don't use class variable as a temporary variable * EKF: update comments * EKF: Improve efficiency of yaw reset Use conversion from rotation matrix to Euler angles instead of quaternion to euler angles. * EKF: use const * EKF: remove un-used struct element * EKF: more descriptive function name * EKF: use existing matrix row operator * EKF: remove unnecessary rotation matrix update * EKF: Use square matrix type * EKF: Improve protection for bad innovation covariance * EKF: Use matrix library operations * EKF: Replace memcpy with better alternative memcpy bypasses compiler sanity checks and is unnecessary in this instance. * EKF: Split EKF-GSF yaw reset function Adds a common function to support yaw reset that can be used elsewhere. * EKF: Use common function for quaternion state and covariance yaw reset * EKF: Replace inlined matrix operation * EKF: Use const * EKF: Change accessor function name * EKF: Use const * EKF: Don't create unnecessary duplicate variable locations * EKF: Remove duplicate covariance innovation inverse * EKF: Don't create unnecessary duplicate variable locations * EKF: Rely on geo library to provide gravity * EKF: Improve protection from bad updates * EKF: Reduce effect of vibration on yaw estimator AHRS * EKF: Improve yaw estimator AHRS accuracy during manoeuvre transients
63 lines
2.4 KiB
CMake
63 lines
2.4 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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control.cpp
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mag_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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estimator_interface.cpp
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gps_checks.cpp
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mag_fusion.cpp
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optflow_fusion.cpp
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sideslip_fusion.cpp
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terrain_estimator.cpp
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vel_pos_fusion.cpp
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gps_yaw_fusion.cpp
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range_finder_checks.cpp
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imu_down_sampler.cpp
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EKFGSF_yaw.cpp
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)
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add_dependencies(ecl_EKF prebuild_targets)
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target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
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target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
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target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup mathlib)
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set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
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target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
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