a9ca8c294c
Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52)
9 years ago
6eaa00e3f9
isfinite() is not part of the math class, rather the math.h header file.
9 years ago
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
9 years ago
f5e2dabc2b
Create CONTRIBUTING.md
9 years ago
e3b9800cac
Merge pull request #138 from pickledgator/evTesting
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EV testing
9 years ago
867bc8c601
Merge pull request #139 from PX4/pr-ekf2Alignment
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EKF: Improve angular alignment consistency
9 years ago
c1b02eaa91
EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned
9 years ago
aaac867da8
EKF: Adjust tilt alignment threshold
9 years ago
e272d5f003
EKF: Use consistent position noise values during alignment
9 years ago
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
9 years ago
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
9 years ago
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
9 years ago
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
9 years ago
50ba26a434
Merge pull request #134 from PX4/pr-ekf2Alignment
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EKF: Improved tilt alignment control
9 years ago
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
9 years ago
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
9 years ago
a4728bc748
EKF: derive auto-code for quaternion state covariance initialisation
9 years ago
88860d0307
EKF: Enable tuning for IMU switch on bias errors
9 years ago
1540e937b1
EKF: Improve tilt alignment monitoring
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
9 years ago
6ca8a36782
EKF: Add matlab derivation for calculation of rotation vector variance
9 years ago
d5046b078e
Merge pull request #106 from PX4/pr-visionSupport
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EKF: add support for external vision data
9 years ago
c955bfbf93
EKF: fix previous merge error
9 years ago
920d83d68c
EKF: Fix bugs preventing use of external vision yaw data
9 years ago
13c3a95bc1
EKF: Add missing line returns
9 years ago
59eb9eb3db
EKF: fix shadow declaration arising from rebase
9 years ago
172f4be594
EKF: Fix bug in calculation of terrain observation variance
9 years ago
b985e58333
EKF: clean up control function
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With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
9 years ago
f4a0f69f6e
EKF: print to console when starting EV fusion
9 years ago
349c731375
EKF: remove PX4 dependant text output
9 years ago
ac9b7a3df6
EKF: Ensure use of EV aiding inhibits use of other height sources
9 years ago
cf1df5861a
Undid hack in ecl. Handled yaw missalignment on the vision side.
9 years ago
d16f413b55
Hack to fix external vision pos offset compensation
9 years ago
d3bad9fdb0
Correct height fusion flag when using sensor other than baro
9 years ago
6d20a426e0
Reset time_last_ext_vision
9 years ago
b681c9a5d0
Added external vision noise parameters etc and position offset
9 years ago
ff8f03b5dd
Added compensation for VI sensor offset. Check sign.
9 years ago
e917d6c7f2
EKF: Add fusion of external yaw data
9 years ago
37a09c61bc
EKF: Don't use delayed data to start EV aiding
9 years ago
25f1d1d766
EKF: Add fusion of external vision 3D pos data
9 years ago
81469d6621
EKF: Add position, height and velocity reset for EV aiding
9 years ago
3a0fcd03d7
EKF: Add interfaces and variables to use ext vision data
9 years ago
7afd015b49
Merge pull request #129 from PX4/pr-ekf2OutputFilterTracking
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EKF: Improve output observer position and velocity tracking
9 years ago
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
627d08ecc9
Revert "EKF: Fix bug in output observer"
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This reverts commit 03f3df7415
9 years ago
03f3df7415
EKF: Fix bug in output observer
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Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
9 years ago
d595596c42
Merge pull request #114 from PX4/fix_linux_build
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CMakeLists: use find_package Eigen3
9 years ago
5217b73df1
added bad_airspeed reporting ( #123 )
9 years ago
b126921894
changed airspeed innovation gate to 5 ( #119 )
9 years ago
b8ccc58887
cmake: ignore more eigen warnings
9 years ago
b74114a573
cmake: ignore deprecated warnings of Eigen
9 years ago
waltjohnson
Paul Riseborough
Paul Riseborough
Nic
devbharat
Lorenz Meier
Carl Olsson
Julian Oes