149233a9ab
Add velocity observations to external vision interface
5 years ago
62a1e07512
ecl_EKF: Do not include SquareMatrix from Matrix library
...
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
7612fa40ed
EKF: Don't start using GPS for height until all validity checks have passed
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Consolidate intermittent data checks, improve variable and clarify usage.
6 years ago
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
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angle- and delta velocity bias variance
- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
0f49eb34a0
fixed method which calculates validity of terrain estimate
...
Signed-off-by: RomanBapst <bapstroman@gmail.com>
6 years ago
340d85afc1
EKF: fix variable names in estimator_interface.h
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This fixes issue #566
6 years ago
54ac147ae8
Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time
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This does not change the default of 10 seconds.
6 years ago
770cd3c5cc
added python script for terrain flow derivation (optical flow for terrain
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height estimation)
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
c085d7295d
addressed review comments
6 years ago
8673ab0346
terrain estimator: constrain terrain state properly
...
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
fbb51147b7
implemented use of optical flow for terrain estimation
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
3f691891c4
EKF: control: stop vision yaw fusion on timeout
6 years ago
c4492b17c1
do not reset yaw if vehicle on ground
6 years ago
f97f0b6ea3
EKF: Remove unnecessary code
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_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
6 years ago
43b5e26fe4
EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
6 years ago
f95cd4b358
ground effect: removed dependency on local position
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
7845ff4360
EKF: increase wind process noise scaler to 0.5
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
32ca6f7030
ekf: scale wind process noise with low pass filtered height rate
6 years ago
938c8ad9ad
EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff
6 years ago
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
fabd216ca5
EKF: Documentation edits
6 years ago
8d6e8ae078
EKF: update get_mag_decl_deg()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
2b17ced405
EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
1d91785a8e
EKF: correct quaternion order
6 years ago
000aa0de5d
EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter()
6 years ago
96c5c14041
EKF: Change the EKF initialization to
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1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
kamilritz
Matthias Grob
Julian Kent
Nico van Duijn
Andreas Antener
Jan Brehmer
Paul Riseborough
bresch
CarlOlsson
Roman
Robert de Vries
Beat Küng
Mohammed Kabir
Martina