a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
6 years ago
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
6 years ago
ad7f7af03b
ekf: correct quaternion multiplication order
6 years ago
d6351bd7a5
EKF: update comment
6 years ago
7612fa40ed
EKF: Don't start using GPS for height until all validity checks have passed
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Consolidate intermittent data checks, improve variable and clarify usage.
6 years ago
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
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angle- and delta velocity bias variance
- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
0f49eb34a0
fixed method which calculates validity of terrain estimate
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
6 years ago
340d85afc1
EKF: fix variable names in estimator_interface.h
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This fixes issue #566
6 years ago
54ac147ae8
Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time
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This does not change the default of 10 seconds.
6 years ago
770cd3c5cc
added python script for terrain flow derivation (optical flow for terrain
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height estimation)
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
c085d7295d
addressed review comments
6 years ago
8673ab0346
terrain estimator: constrain terrain state properly
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
fbb51147b7
implemented use of optical flow for terrain estimation
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
3f691891c4
EKF: control: stop vision yaw fusion on timeout
6 years ago
c4492b17c1
do not reset yaw if vehicle on ground
6 years ago
f97f0b6ea3
EKF: Remove unnecessary code
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_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
6 years ago
43b5e26fe4
EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
6 years ago
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
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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
4e0e68e905
Ekf: add more useful methods to interface with the covariances ( #543 )
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
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
Paul Riseborough
CarlOlsson
Roman
Robert de Vries
Beat Küng
Mohammed Kabir
Martina
Nuno Marques
Daniel Agar
Freek van Tienen