724280fd1f
EKF: move calculation of optical flow observation variance into a function
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Allows it to be used when calculating initial state variance
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
9 years ago
9e53ff2f80
EKF: Improve protection against bad optical flow fusion
9 years ago
da9d894441
EKF: Improvements to covariance reset
9 years ago
f4e84a2234
EKF: fix axis label error in comments
9 years ago
82da832816
EKF: tidy up Kalman gain calculations
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Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
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
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
48f980b054
EKF: Fix syntax causing posix build to fail
9 years ago
dd1d58bab5
EKF: Remove unnecessary matrix operations from optical flow fusion
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The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
9 years ago
122dd9c531
EKF: Add source file for optical flow LOS rate fusion
9 years ago
Paul Riseborough