Paul Riseborough 2f2ac5be43 EKF: Improve protection against severe IMU accel errors ...

Use vertical velocity and position innovation failure to detect bad accelerometer data caused by clipping or aliasing which can cause large vertical acceleration errors and loss of height estimation. When bad accel data is detected:

1) Inhibit accelerometer bias learning
2) Force fusion of vertical velocity and height data
3) Increase accelerometer process noise

2017-04-07 08:47:13 +10:00

..

tests

CMakeLists: don't always optimize for size

2016-09-27 16:35:35 +02:00

airspeed_fusion.cpp

EKF: Improve wind state reset logic

2016-11-05 12:19:01 +01:00

CMakeLists.txt

cmake add all EKF sources (#243)

2017-02-27 00:46:48 -05:00

common.h

EKF: Improve protection against severe IMU accel errors

2017-04-07 08:47:13 +10:00

control.cpp

EKF: Improve protection against severe IMU accel errors

2017-04-07 08:47:13 +10:00

covariance.cpp

EKF: Improve protection against severe IMU accel errors

2017-04-07 08:47:13 +10:00

ekf_helper.cpp

EKF: Use common timeout test for reporting deadreckoning

2017-03-15 07:57:38 +01:00

ekf.cpp

EKF: Improve protection against severe IMU accel errors

2017-04-07 08:47:13 +10:00

ekf.h

EKF: Improve protection against severe IMU accel errors

2017-04-07 08:47:13 +10:00

estimator_interface.cpp

EKF: remove use of memset to initialise variable

2017-03-21 07:57:23 +11:00

estimator_interface.h

EKF: Use common timeout test for reporting deadreckoning

2017-03-15 07:57:38 +01:00

FindEigen3.cmake

cmake: include FindEIgen3.cmake for older cmake

2016-05-10 17:59:01 +02:00

geo.cpp

geo NULL to nullptr (#242)

2017-02-25 15:27:00 -05:00

geo.h

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

gps_checks.cpp

EKF: Do not move EKF origin when performing GPS checks

2017-03-31 16:19:30 +11:00

mag_fusion.cpp

EKF: reduce KH to only the elements that are really needed, and merge the loops

2016-11-02 10:26:40 +01:00

mathlib.cpp

Addressed C99 compiler issues of initializing variables in header and unused included statements.

2016-05-19 09:58:18 -06:00

mathlib.h

cmake add all EKF sources (#243)

2017-02-27 00:46:48 -05:00

optflow_fusion.cpp

EKF: remove dead code

2017-01-15 10:02:31 +01:00

RingBuffer.h

EKF: remove un-used variable

2017-01-15 10:02:31 +01:00

sideslip_fusion.cpp

EKF: Improve recovery and reporting for badly conditioned sideslip fusion

2016-11-05 12:19:01 +01:00

terrain_estimator.cpp

update range sensor angle parameters in case they have changed

2017-02-22 14:12:05 +01:00

vel_pos_fusion.cpp

EKF: enable scaling of range observation variance with height

2017-02-22 14:12:05 +01:00