0aef0eda59
terrain_estimator: remove dead code. Since the terrain estimator is
...
constantly reset on ground, it is not necessary anymore to fuse fake
measurements on ground if the range measurements are bad.
5 years ago
370e04ee60
terrain_est: Continuously reset terrain height on ground using known
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clearance. This is the best estimate as we should not rely on a distance
sensor while on the ground. This also helps when the drone is carried
over as it avoids starting with a crazy downward distance for optical
flow scaling.
5 years ago
e09e3e17a1
control: rename _range_aid_enabled to _is_range_aid_suitable
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rename rangeAidConditionsMet to checkRangeAidSuitability
5 years ago
fac69d07a3
control: refactor rangeAidConditionsMet function
5 years ago
eae6e8f19c
EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4
5 years ago
4e946d5bcb
implemented synthesized magnetometer Z measurement
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- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
5 years ago
f005e0ea8f
Remove deprecated ev_innov_gate param
5 years ago
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
5 years ago
bb88d4ce5e
Undo wrong comment change
5 years ago
562731936a
Update quaternion direction in documentation pdf
5 years ago
8c061fb6a4
Fixing wrong label of quaternion direction
5 years ago
fe3fec413c
fix #595 and add new all-in-one conversion script (PX4 only)
5 years ago
83eb326076
Missing posNED
5 years ago
fd6b364c11
posNED to pos and velNED to vel and add ev vel covariances to reset
5 years ago
4f6ca3a74c
Replace rest of spaces with tabs
5 years ago
cea053820d
Remove spaces with tabs
5 years ago
1e57c4bbec
Fix white space
5 years ago
10cbd79db7
Rotate external vision info in reset function if necessary
5 years ago
4511b9ff5e
Add missing checks for flags.ev_vel
5 years ago
e7d927c899
Stop using bad GPS when we have vision velocity
5 years ago
bd8f05567a
set vel_pos_test_ratio to zero if no fusion happens
5 years ago
4b30de587f
Make vel_pos innov gate variable name clearer
5 years ago
4237d7ccd7
Improve external vision position fusion
5 years ago
3e8139ff9f
Enable vision velocity fusion
5 years ago
149233a9ab
Add velocity observations to external vision interface
5 years ago
62a1e07512
ecl_EKF: Do not include SquareMatrix from Matrix library
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because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
6 years ago
4c4c1f2984
Use copyTo for writing to memory blocks
6 years ago
8cc8db211c
Fix copy_quaternion reference in code generation
6 years ago
8d60f8ba8f
Remove direct unsafe access to matrix internal data
6 years ago
c446ee444a
EKF: fake rng if faulty on ground
6 years ago
4f19d457c4
ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active
6 years ago
93eb1266f6
EKF: reset position when stopping GPS use and EV is active
6 years ago
267195a11b
EKF: remove check for faulty flag in fake rng
...
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
6 years ago
933189eac0
EKF: fix rng_faulty flag when sensor is stuck
6 years ago
640e41cba7
EKF: change rangeSample quality to int8_t
6 years ago
a12186c285
terrain_estimator: introduce quality metric in rng
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This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
6 years ago
3e05fd552e
EKF: Compensate for bad range finder data when on ground
6 years ago
3b32ee4166
Flow aiding - Reset state when flow is enabled only if it is the only
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position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
6 years ago
be368f3656
Update comment
6 years ago
c5abfe626f
remove canonicalize and adapt comments
6 years ago
a2ff415fe4
Fix get frame aligning quaternion function
6 years ago
53eac6e94e
Canonicalize alignment quaternion
6 years ago
933c32c921
Enable local frame alignment also without using it
6 years ago
ea352a6631
Dont use mag suffix for magnitude
6 years ago
05196db79e
Fix alignment of local frame
6 years ago
e1751188fd
EKF - Initialize _deadrekon_time_exceeded to true.
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If no sample have been received, deadrekoning and local position should be invalid.
6 years ago
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
6 years ago
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
6 years ago
ad7f7af03b
ekf: correct quaternion multiplication order
6 years ago
d6351bd7a5
EKF: update comment
6 years ago
bresch
Paul Riseborough
RomanBapst
kamilritz
Jannik Beyerstedt
Matthias Grob
Julian Kent
Nico van Duijn
Andreas Antener
Jan Brehmer
CarlOlsson