46e207106b
ekf: use `std::isfinite` instead of `isnan`
9 years ago
874558d194
EKF: improve detection of bad vert accel data
...
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
9 years ago
421703c267
EKF: rework initialisation of height state and offsets
9 years ago
a7417657c3
EKF: ensure fusion timeout counters are reset when required
9 years ago
0de15b1b20
EKF: Add variables to monitor vertical position and height offset
9 years ago
b295f9050c
EKF: ensure GPS check status is correctly initialised
9 years ago
00c8821006
disable airspeed fusion for now. Needs more testing and implementation of side slip fusion
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
8c55e36ca9
EKF: use common value for gravity
9 years ago
163c08a3ac
EKF: Improve output observer documentation
9 years ago
2dcc6e2053
EKF: Improve accuracy of state prediction
...
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
9 years ago
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
9 years ago
e10093854a
EKF: correct outputs for IMU offset
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
48b105b748
EKF: correct range finder data for sensor position offset
9 years ago
e89dbb9f63
EKF: correct GPS data for antenna position offset
9 years ago
eaf94935f0
EKF: Fix bug in initialisation of height and magnetic field
...
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
9 years ago
27b894540e
put airspeed fusion logic but don't actually call it yet
9 years ago
f5a9afd278
moved init
9 years ago
4301e1105b
added commas
9 years ago
0918fa04c7
adopted ekf.cpp
9 years ago
0fb1e0578b
added function for fusing airspeed
9 years ago
c23d72ba29
EKF: Ensure filter control modes are correctly initialised
9 years ago
9f3b1351f7
EKF: Don't initialise velocity to GPS on initial alignment
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For initial alignment the velocity and position should start at zero
9 years ago
e334a5dc57
EKF: Add check for NaN's on attitude states
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
63b0cf4360
EKF: Fix baro height offset bug
9 years ago
49023f3d7e
EKF: fix travis build error
9 years ago
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
...
This prevents the possibility of output transients if alignment is delayed.
9 years ago
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
9 years ago
370f643f42
EKF: Enable use of range finder for primary height source
9 years ago
cc5512905a
EKF: prevent optical flow, GPS and baro fusion from blocking each other
9 years ago
ffebaf384f
EKF: Set initial optical flow fusion monitor outputs to zero
9 years ago
d97d308ca7
EKF: Add control of optical flow and range finder fusion
9 years ago
d5e47d21db
EKF: miscellaneous comment and format changes
9 years ago
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
9 years ago
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
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
ccb5736353
Spaces to tab.
9 years ago
a4cecb1704
Match variable initialization order difference with upstream.
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
c089079321
EKF: Split tilt and yaw align
9 years ago
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
9 years ago
ce0ddc0207
-added comments
...
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
9d7340e187
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
9 years ago
Julian Oes
Paul Riseborough
Roman Bapst
Roman Bapst
CarlOlsson
mcsauder