f95cd4b358
ground effect: removed dependency on local position
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
7845ff4360
EKF: increase wind process noise scaler to 0.5
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
32ca6f7030
ekf: scale wind process noise with low pass filtered height rate
6 years ago
938c8ad9ad
EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff
6 years ago
8b4ae48c69
README: Fix link to EKF/ECL tuning guide
6 years ago
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
6e77b197c7
Add DataValidatorGroup tests, add more DataValidator tests ( #592 )
6 years ago
a892ececf8
cmake add ECL_TESTS option only enabled in standalone build
6 years ago
fabd216ca5
EKF: Documentation edits
6 years ago
8d6e8ae078
EKF: update get_mag_decl_deg()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
2b17ced405
EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
1d91785a8e
EKF: correct quaternion order
6 years ago
000aa0de5d
EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter()
6 years ago
96c5c14041
EKF: Change the EKF initialization to
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1) init tilt
2) init yaw
3) init tilt uncertainty
4) init yaw uncertainty
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
ea259d358d
EKF: initialize the newest attitude estimate to a valid quaternion
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
6cf512f103
EKF: Also update the newest and oldest quaternion estimate in
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alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
78122b20a6
EKF: fix the rotation direction of the buffered attitude solutions
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in alignOutputFilter()
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
56b6b7a778
EKF: cleanup use of _mag_filt_state
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
37339de57c
EKF: remove unused variable
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
6c759e0e9f
Initial unit tests for DataValidator ( #588 )
6 years ago
4e0e68e905
Ekf: add more useful methods to interface with the covariances ( #543 )
6 years ago
a85d3a43ed
attitude_fw remove unused
6 years ago
c66f7f4a09
EKF drop unused timestamp from collect_gps() and pass data by const reference
6 years ago
78b899c72d
Add Paparazzi compatibility ( #580 )
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This adds support for the paparazzi autopilot to use this library as EKF.
The header order change has to be done in order to have std.h included to get certain defines at the start of the estimator_interface.h.
6 years ago
5cd331055f
cmake standalone build pin PX4/Matrix to commit
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- 6b0777d815
6 years ago
1378ec1797
EKF mag_fusion avoid unnecessary double promotion
6 years ago
54ab8191e3
EKF: add method to get the terrain variance
6 years ago
c5554cae96
EKF tests update SWIG usage and use latest containers
6 years ago
dd58e69549
EKF: Ensure FW yaw alignment method is used on first in-air reset
6 years ago
3accab1ac5
EKF: protect declination fusion from badly conditioned earth field estimates
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Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.
EKF: Move declination state limiting into a separate function
EKF: Limit NE mag states after each 3-axis mag fusion
EKF: Fix bug in mag field strength look-up scale factor
6 years ago
7bddbd1cc5
EKF: Update cleaned up autocode fragment with sign error fix and missing LD
6 years ago
fe378fd761
EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion
6 years ago
bd1647a7fb
EKF: Rework use of fuseDeclination()
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Simplify calling so that it is only called in two ways:
1) Immediately before 3-axis mag fusion if not called since the last earth field covariance reset so that the earth field declination information can be formed.
2) Immediately after 3-axis mag fusion otherwise.
6 years ago
d52f53635b
EKF: Save mag field covariance data before reset
6 years ago
82ce7a83a5
EKF: Save mag field covariance information on startup
6 years ago
708c79eb8f
EKF: Ensure mag field state covariance data is always available for re-use
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Prevents use of _saved_mag_ef_covmat and _saved_mag_bf_variance before being initialised or when stale.
6 years ago
8839e4e1f4
EKF: Don't discard declination certainty information when resuming 3-axis fusion.
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In the case where the EKF is switching between 3-axis and heading fusion, off-diagonal elements containing the correlation between N,E components of the earth field were being lost on each switch event. These elements contained information about the declination uncertainty and should be preserved.
6 years ago
25148e1b45
EKF: Prevent rapid changes in declination estimate after a reset
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Ensures that each time the earth field covariance and variance data is reset, that the off-diagonal elements containing earth field declination angle certainty is restored.
6 years ago
6e7c119b31
EKF: limit yaw variance increase to 0.01 rad^2 to prevent a badly conditioned covariance matrix
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
0896f7b9bd
EKF: Also fill in lower part of covariance matrix in increaseQuatYawErrVariance()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
4b3140e5f7
EKF: Fix rebase error
6 years ago
911d4d8f49
EKF: Fix sign error in increaseQuatYawErrVariance function
6 years ago
a0b9cb002e
EKF: Use consistent method for recording completion of in-flight yaw alignment
6 years ago
ef5a87c1d4
EKF: Rework quaternion yaw reset.
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Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
6 years ago
fc2a089823
EKF: Add function to un-correlate quaternion states
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This is necessary after a quaternion reset to prevent incorrect attitude corrections with subsequent observation fusions.
6 years ago
bce1b96d17
EKF: Add function enabling yaw variance to be increased
6 years ago
bf1f3a224e
EKF: Derive equations enabling yaw variance to be increased
6 years ago
81eabc1903
Jenkins update all containers to latest tag 2019-01-28
6 years ago
a5e6191ba7
EKF add clarity brackets to avoid potential confusion
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- fixes https://github.com/PX4/ecl/issues/555
6 years ago
721f5e61a5
increase optical flow buffer to imu buffer length
6 years ago
Roman
CarlOlsson
Hamish Willee
Todd Stellanova
Daniel Agar
Paul Riseborough
Nuno Marques
Freek van Tienen
Anna Dai