Paul Riseborough c7e225124c EKF: Improve output observer position and velocity tracking ...

Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.

2016-05-14 12:45:29 +09:30

..

tests

cmake STACK -> STACK_MAIN

2016-04-16 21:46:50 -04:00

airspeed_fusion.cpp

added bad_airspeed reporting (#123)

2016-05-12 10:06:04 +02:00

CMakeLists.txt

cmake: ignore more eigen warnings

2016-05-12 08:38:37 +02:00

common.h

EKF: Improve output observer position and velocity tracking

2016-05-14 12:45:29 +09:30

control.cpp

EKF: Remove use of vehicle arm status

2016-05-10 10:23:08 +10:00

covariance.cpp

EKF: Allow for larger accel bias offsets on startup

2016-05-08 18:03:58 +10:00

ekf_helper.cpp

EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow

2016-05-08 10:30:40 +10:00

ekf.cpp

EKF: Improve output observer position and velocity tracking

2016-05-14 12:45:29 +09:30

ekf.h

EKF: Improve output observer position and velocity tracking

2016-05-14 12:45:29 +09:30

estimator_interface.cpp

EKF: Remove use of vehicle arm status

2016-05-10 10:23:08 +10:00

estimator_interface.h

EKF: Remove use of vehicle arm status

2016-05-10 10:23:08 +10:00

FindEigen3.cmake

cmake: include FindEIgen3.cmake for older cmake

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

geo.cpp

EKF: Fix code style

2016-02-25 08:17:50 +11:00

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: Remove use of vehicle arm status

2016-05-10 10:23:08 +10:00

mag_fusion.cpp

EKF: replace fault status struct with a union to facilitate logging

2016-05-07 21:11:16 +10:00

mathlib.cpp

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

mathlib.h

Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications.

2016-03-05 02:17:55 -07:00

optflow_fusion.cpp

EKF: move calculation of optical flow observation variance into a function

2016-05-08 15:40:06 +10:00

RingBuffer.h

EKF: Add methods to ring buffer to access specific indices

2016-04-22 08:21:36 +10:00

terrain_estimator.cpp

EKF: Remove use of vehicle arm status

2016-05-10 10:23:08 +10:00

vel_pos_fusion.cpp

EKF: protect against large IMU errors during initial tilt alignment

2016-05-08 17:54:45 +10:00