0fa7ef3517
EKF: Use ecl::powf for integer exponents
5 years ago
168dbdf630
EKF: Convert sideslip fusion to use SymPy generated auto-code
5 years ago
89bfcc2167
Introduce checkAndFixCovarianceUpdate(KHP) function
5 years ago
5c4a3d4576
Make observation jacobian a Vector24f when possible
5 years ago
b5e1397c0f
Add const modifier
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const modifier
Add missing const modifier
5 years ago
b5765eb3b4
Move variable declaration to better place &
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remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
5 years ago
05855b7fc1
Update time of last fusion event really only if fused
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Except for the velpos fusion
5 years ago
efd96db49d
Avoid setting 0 to 0
5 years ago
16a00eae0b
Make Kfusion a Vector24f
5 years ago
356b2f6ffe
Stop setting zero to zero
5 years ago
552bf824ea
Add typedef for Matrix 24 types
5 years ago
48f0eb16da
Remove uninformative comments
5 years ago
4a69b41015
Increase matrix library usage even more
5 years ago
a3706fdcef
Make relative wind computation more compact
5 years ago
ff8b5ec69d
Extract general functions into utils
5 years ago
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
5 years ago
9e6d27fafb
Add missing const qualifier
5 years ago
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
5 years ago
92ba618f57
Improve on flash memory usage
5 years ago
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
5 years ago
1bf09fd370
Remove EKF prefix from logged messages
5 years ago
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
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
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
ae069b12d6
EKF: Fix bug preventing wind relative dead reckoning
7 years ago
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
7 years ago
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
7 years ago
e4ffe199ed
EKF: fix bug in sideslip fusion activation
7 years ago
99ba1c3745
EKF trivial code style cleanup
8 years ago
c44488fdb8
EKF matrix typedef cleanup
8 years ago
750a8874c1
EKF: Improve recovery and reporting for badly conditioned sideslip fusion
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Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
8 years ago
f76a2a5ff7
EKF: fix bug in sideslip fusion and reduce RAM usage
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The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
8 years ago
2fedbc8a18
EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency
8 years ago
fb6f4be453
EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning
8 years ago
0e3ae4b323
fixed issue with the covariance update in synthetic sideslip fusion
8 years ago
f5d0228cd5
include ecl.h
8 years ago
beb90f008d
adopted code for upstream changes
8 years ago
b7a4a1358f
added sidelip_fusion.cpp
8 years ago
Paul Riseborough
kamilritz
Paul Riseborough
Carl Olsson
Daniel Agar