481c624975
EKF: Remove use of vehicle arm status
...
Use single externally set in-air status for all decisions
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
9 years ago
99fc61c27c
ekf2 airspeed fusion:
...
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
82920da232
EKF: strengthen checking of local position status
...
provides immediate status reporting when dropping out of optical flow mode
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
1b7115dec9
increased airspeed fusion rate to 12.5Hz
9 years ago
d440c883b5
adopted ekf_interface.cpp
9 years ago
400a6e12ba
EKF: Ensure all data in buffers is initialised
...
This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
836fe39070
EKF: Update external interface functions to support optical flow
9 years ago
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
9 years ago
a30830a7a9
EKF: Scale position observation noise with GPS quality
...
This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
9 years ago
f55a0bff53
EKF: Fix code style
9 years ago
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
9 years ago
48e80e9e3e
Correct C style array initialization.
9 years ago
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
9 years ago
2096e24c06
EKF: fix time of sample receive setting
9 years ago
ce0ddc0207
-added comments
...
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
7de1d39ce4
EKF: Improve use of position and velocity observation noise parameters
...
Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
9 years ago
d79e12dfa1
EKF: fix code style
9 years ago
8200ef4d17
EKF: allocate and unallocate buffer more robustly
9 years ago
c6249a2825
EKF: change estimator base class name to estimation interface
9 years ago
3cafedd4c1
EKF: start storing samples only when ekf is initialised
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
466a104534
EKF: additional GPS check logic
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Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
9 years ago
a779d45cd0
ekf2: fix bug causing faulty imu data storage
9 years ago
001d621eb1
EKF: move imu data processing code to estimator core
9 years ago
251996d387
ekf: move gps checks to Ekf library from estimator_base
9 years ago
46b0e9654c
Add filter control logic
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
...
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
4526cb9c4f
EKF: remove redundant variable
9 years ago
6326433c47
EKF: Eliminate call to hrt_absolute_time()
...
This will make the library more portable
9 years ago
94a6644684
Add comprehensive user selectable GPS checks
9 years ago
86df68e404
added interface for parameters
9 years ago
79bf35c4b3
Fixed printf of uint64_t
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Must use PRIu64 to prevent compiler errors.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
0b5c90574c
fix delta angle bias usage:
...
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
9 years ago
5aa5f7f8c3
use correct timestamp for measurements
9 years ago
0cb210d045
EKF: Changes required to enter POSCTL mode
9 years ago
457a57c6ff
use simple heading fusion
9 years ago
8894786752
Estimator base: Fix printf formatting
9 years ago
5e5d6f432a
added static gps mode and init mag state correctly
9 years ago
155ba9f796
Estimator base: Fix printf formatting
9 years ago
d233ca3990
added complementary filter for real time state estimation
9 years ago
8de8b0eb76
prediction and vel pos heading fusion working
9 years ago
cfc39bc2f9
implemented prediction of states and covariance matrix
9 years ago
Paul Riseborough
Roman Bapst
CarlOlsson
Roman Bapst
mcsauder
bugobliterator
Mark Charlebois
Lorenz Meier