Paul Riseborough 5fb24c3032 EKF: Reduce EKF prediction delta time jitter ...

Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic.
Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.

2017-03-10 10:14:06 +01:00

..

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: Add accel bias estimation fault to reporting

2017-03-10 10:14:06 +01:00

control.cpp

EKF: Clean up terrain estimation functionality.

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

covariance.cpp

EKF: Add accel bias estimation fault to reporting

2017-03-10 10:14:06 +01:00

ekf_helper.cpp

EKF: Fix use of incorrect timestamp

2017-03-10 10:14:06 +01:00

ekf.cpp

EKF: Reduce EKF prediction delta time jitter

2017-03-10 10:14:06 +01:00

ekf.h

EKF: Reduce EKF prediction delta time jitter

2017-03-10 10:14:06 +01:00

estimator_interface.cpp

EKF: Use norm for vector length everywhere

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

estimator_interface.h

EKF: Reduce EKF prediction delta time jitter

2017-03-10 10:14:06 +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

c++11 initialization cleanup (#237)

2017-02-05 13:05:10 -05:00

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