Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com>
- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution
Signed-off-by: Roman <bapstroman@gmail.com>
This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.
Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
Beat Küng
Paul Riseborough
Roman
Julian Oes
CarlOlsson
Youssef Demitri
Lucas De Marchi
Paul Riseborough
Roman Bapst
Roman