mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
77b11129fa
* added python script with ekf derivation (WIP) Signed-off-by: RomanBapst <bapstroman@gmail.com> * worked on c code auto-generation Signed-off-by: RomanBapst <bapstroman@gmail.com> * save before variable name change Signed-off-by: RomanBapst <bapstroman@gmail.com> * changed symbol names Signed-off-by: RomanBapst <bapstroman@gmail.com> * added codegeneration class Signed-off-by: RomanBapst <bapstroman@gmail.com> * improve 3D mag fusion derivation Signed-off-by: RomanBapst <bapstroman@gmail.com> * EKF: Extend ekf sympy derivation to include all observation types * EKF: Add custom ecl::powf function for integer powers * EKF: Convert ekf covariance prediction to use sympy output * EKF: Add test program to compare sympy and matlab covariance prediction Also tests ecl::powf(x,exp) function * EKF: simplify ecl::powf function * Generate code to subfolder generated/ * Add printouts for showing code generation progress * Move generated covariance code to generated folder * Upgrade code generation to python3 * main.py: Remove unused create_symbols function & making code more compact * main.py: move main part into function * Code generation: fix passing wrong rotation matrix to yaw_observation () * EKF: Amend generated code filename for consistency * Move ecl::powf function test to unit tests * EKF: Use updated ecl:powf functionality in test program * Move ecl::powf to utils.hpp * Update ecl::powf test * Update output change indication * test: update expected output for change indicator * test: update expected output for change indicator again Co-authored-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: kamilritz <kritz@ethz.ch>