b8e2f79005
EKF: correct include paths
9 years ago
ecfd8c867a
EKF: use ECL printfs everywhere
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- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
9 years ago
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
9 years ago
4237269fab
EKF: add struct to capture state reset events
9 years ago
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
9 years ago
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
9 years ago
7dd123094f
EKF: correct documentation
9 years ago
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
9 years ago
5a40aa2c1a
EKF: prevent unwanted GPS use
9 years ago
0fafc49a49
fixed typos ( #147 )
9 years ago
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
9 years ago
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
9 years ago
6d20a426e0
Reset time_last_ext_vision
9 years ago
3a0fcd03d7
EKF: Add interfaces and variables to use ext vision data
9 years ago
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
6344fa0e8c
limit maximum rates of all measurement at which they are stored into the buffers
9 years ago
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
82920da232
EKF: strengthen checking of local position status
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provides immediate status reporting when dropping out of optical flow mode
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
1b7115dec9
increased airspeed fusion rate to 12.5Hz
9 years ago
d440c883b5
adopted ekf_interface.cpp
9 years ago
400a6e12ba
EKF: Ensure all data in buffers is initialised
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This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
836fe39070
EKF: Update external interface functions to support optical flow
9 years ago
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
9 years ago
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
9 years ago
f55a0bff53
EKF: Fix code style
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
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
9 years ago
2096e24c06
EKF: fix time of sample receive setting
9 years ago
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
7de1d39ce4
EKF: Improve use of position and velocity observation noise parameters
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Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
9 years ago
d79e12dfa1
EKF: fix code style
9 years ago
8200ef4d17
EKF: allocate and unallocate buffer more robustly
9 years ago
c6249a2825
EKF: change estimator base class name to estimation interface
9 years ago
3cafedd4c1
EKF: start storing samples only when ekf is initialised
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
466a104534
EKF: additional GPS check logic
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Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
9 years ago
a779d45cd0
ekf2: fix bug causing faulty imu data storage
9 years ago
001d621eb1
EKF: move imu data processing code to estimator core
9 years ago
251996d387
ekf: move gps checks to Ekf library from estimator_base
9 years ago
46b0e9654c
Add filter control logic
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
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Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
4526cb9c4f
EKF: remove redundant variable
9 years ago
Julian Oes
Paul Riseborough
Carl Olsson
waltjohnson
Nic
devbharat
Roman Bapst
Roman Bapst
mcsauder
bugobliterator