c7e225124c
EKF: Improve output observer position and velocity tracking
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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.
9 years ago
b126921894
changed airspeed innovation gate to 5 ( #119 )
9 years ago
1a24ec5f50
EKF: remove unused flag from control status message
9 years ago
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
310bd97080
EKF: Improve protection against bad pos vel fusion
9 years ago
d9aeace6ac
EKF: tuning update
9 years ago
1daa6c7866
EKF: update tuning defaults
9 years ago
fc6c0c7ebf
EKF: Update covariance prediction
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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
9 years ago
ecaffe63af
EKF: update tuning defaults
9 years ago
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
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This also makes the tuning less sensitive to changes in the EKF update rate.
9 years ago
799865c934
EKF: update default tuning parameters
9 years ago
311d046a26
EKF: Enable optional activation of XY delta velocity bias estimation
9 years ago
67d23948b5
EKF: preliminary re-tune
9 years ago
03c35266ef
EKF: remove unused parameter
9 years ago
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
e3365525c2
EKF: rework height reset logic
9 years ago
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
3455931617
EKF init: Fix initialization statement
9 years ago
ea38aa130f
EKF: update default time delay parameter values
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
3580940e10
EKF: Add sensor position offset parameters
9 years ago
470098e182
EKF: update default tuning parameters
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Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
f990d99790
fixed bug
9 years ago
92abf93c8f
adopted common.h
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
eab0ef4266
EKF: Update default process noise for terrain estimator
9 years ago
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
9 years ago
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
9 years ago
b3b0f1347a
EKF: Make normal GPS mode the default
9 years ago
dca186c6e8
EKF: Add required declarations for optical flow
9 years ago
57d4064d7b
EKF: Increase default heading observation noise
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Improves robustness when operating in a bad magnetic field environment
9 years ago
f55a0bff53
EKF: Fix code style
9 years ago
f9f00fa52b
Remove unnecessary include.
9 years ago
79d07c831f
Convert spaces to tabs to match upstream.
9 years ago
6c96f45f08
Remove whitespace differences with upstream for pull request.
9 years ago
a711632017
EKF: Add method to fuse horizontal magnetometer data
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This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
9 years ago
72243c4a84
Resolve tab/space differences with upstream master.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
9 years ago
7da40a45a4
EKF: Add control mode for wind state estimation
9 years ago
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
9 years ago
0308f2f796
EKF: Add parameters to control declination source and fusion type
9 years ago
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
9 years ago
6aeccf01ff
EKF: Add missing fusion health status messages
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
9bfc11b660
EKF: Use specific position observation noise when flying without GPS
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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
9 years ago
2b1e8fe910
EKF: Update tuning parameters
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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
9 years ago
Paul Riseborough
Carl Olsson
Roman Bapst
Lorenz Meier
mcsauder
Roman