Tree: 12835b999e

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master

my1.12

my1.12-iic

pr-sensor-distance

release/1.12

sbg

tf-1.12

tf-1.12-print_test

tf-iic2uart

tf_driver-1.12

tf_i2c-1.12

tf_i2c_collis_pre

v1.13.0-BW

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Commit Graph

3 Commits (12835b999e756ef631111c4fdd0ac1c72d68694d)

Author	SHA1	Message	Date
bresch	f38388cdab	YawEst: simplify AHRS accelerometer gain computation ... Replace the multiple if-else statements by a generic equation. - For a multicopter, the attenuation factor is 2 and symmetrical - For a fixedwing, the attenuation factor is 1 if the acceleration is positive and that centripetal correction is available and 2 otherwise. Note that the function "sq" needs to be const in order to be used in a const function.	5 years ago
kritz	bcd3869ca2	CleanUp of the EKFGSF (#769) ... * Add const modifiers * Pass imu data as sampe * Remove emergency reset request counter * Improve matrix library usage * Indentation fix * Do not store innovation matrix for each model * Make weights a separate vector * EKF: Add missing alignment transfer to AHRS solutions * EKF: Replace #define constants with static constexpr * EKF: Move declaration for weights into GSF section * EKF: Fix documentation error Co-authored-by: Paul Riseborough <p_riseborough@live.com.au>	5 years ago
Paul Riseborough	4669aa6312	EKF: Add Emergency yaw recovery using EKF-GSF estimator (#766) ... * EKF: Use common rate vector calculation for offset corrections * EKF: Remove duplicate matrix entry calculations * EKF: Create a EKF-GSF yaw estimator class * EKF: add emergency yaw reset functionality * EKF: remove un-used function * EKF: Ensure required constants are defined for all builds * EKF: Fix CI build error * Revert "EKF: remove un-used function" This reverts commit 93005309c7f3794414ad99c86218b3062e00bbd3. * EKF: Replace in-lined Tait-Bryan 312 conversions with function call Also remove unnecessary operations * EKF: Remove unnecessary update of external vision rotation matrix * EKF: Use const * EKF: use const * EKF: don't use class variable as a temporary variable * EKF: update comments * EKF: Improve efficiency of yaw reset Use conversion from rotation matrix to Euler angles instead of quaternion to euler angles. * EKF: use const * EKF: remove un-used struct element * EKF: more descriptive function name * EKF: use existing matrix row operator * EKF: remove unnecessary rotation matrix update * EKF: Use square matrix type * EKF: Improve protection for bad innovation covariance * EKF: Use matrix library operations * EKF: Replace memcpy with better alternative memcpy bypasses compiler sanity checks and is unnecessary in this instance. * EKF: Split EKF-GSF yaw reset function Adds a common function to support yaw reset that can be used elsewhere. * EKF: Use common function for quaternion state and covariance yaw reset * EKF: Replace inlined matrix operation * EKF: Use const * EKF: Change accessor function name * EKF: Use const * EKF: Don't create unnecessary duplicate variable locations * EKF: Remove duplicate covariance innovation inverse * EKF: Don't create unnecessary duplicate variable locations * EKF: Rely on geo library to provide gravity * EKF: Improve protection from bad updates * EKF: Reduce effect of vibration on yaw estimator AHRS * EKF: Improve yaw estimator AHRS accuracy during manoeuvre transients	5 years ago