3eea6cdcc5
EKF: use namespace for structure definitions
...
will be moved to a separate file in the future
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
9236f11c80
EKF: Add position and velocity innovation consistency checks
9 years ago
802129f384
EKF: Add magnetometer fusion error handling
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
...
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
cc50d26601
EKF: Update comments
9 years ago
4526cb9c4f
EKF: remove redundant variable
9 years ago
6326433c47
EKF: Eliminate call to hrt_absolute_time()
...
This will make the library more portable
9 years ago
94a6644684
Add comprehensive user selectable GPS checks
9 years ago
8d0022ab1e
enable estimator state and innovations data logging
9 years ago
86df68e404
added interface for parameters
9 years ago
dfbbd36ff7
fix buffer overflow in constrain of wind velocity
9 years ago
79bf35c4b3
Fixed printf of uint64_t
...
Must use PRIu64 to prevent compiler errors.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
0b5c90574c
fix delta angle bias usage:
...
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
9 years ago
2af5856361
initialise output height with baro
9 years ago
a41f75ffb1
use full mag fusion
9 years ago
f8354bb5e9
- do not fake vertical gps measurement as we have baro
...
- formatting
Conflicts:
EKF/ekf.cpp
9 years ago
2a88fc6cfd
initialise vertical position correctly
9 years ago
5aa5f7f8c3
use correct timestamp for measurements
9 years ago
b8837b4dc6
Added hexagon support
...
std::to_string is not supported in the Hexagon complier
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
edfb7aefcc
EKF: Fix initial alignment errors
...
Use the gravity vector to estimate the initial roll and pitch angle
Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading
9 years ago
52cb9d02c7
EKF: Initialize all local structs and variables
9 years ago
0cb210d045
EKF: Changes required to enter POSCTL mode
9 years ago
eda69e727f
Do not print states by default
9 years ago
457a57c6ff
use simple heading fusion
9 years ago
6b49e2495c
Fix field initializers
9 years ago
8894786752
Estimator base: Fix printf formatting
9 years ago
faf48242ed
EKF: Fix ringbuffer warnings
9 years ago
5e5d6f432a
added static gps mode and init mag state correctly
9 years ago
21fa17c948
Fix field initializers
9 years ago
e8273208d7
EKF: Remove excessive verbosity
9 years ago
155ba9f796
Estimator base: Fix printf formatting
9 years ago
2a6e48332d
EKF: Fix ringbuffer warnings
9 years ago
f153a7cb44
added ifdef guard
9 years ago
d233ca3990
added complementary filter for real time state estimation
9 years ago
67646a15b0
added full mag fusion
9 years ago
8de8b0eb76
prediction and vel pos heading fusion working
9 years ago
921df43d32
added tests for EKF ringbuffer
9 years ago
d90c8fd7c2
fixed bug in covariance prediction
9 years ago
cfc39bc2f9
implemented prediction of states and covariance matrix
9 years ago
b52e38eb9d
fix
9 years ago
cd5db8f494
enhance ringbuffer
9 years ago
b3491bcfc3
added file with ekf helper functions
9 years ago
859502753d
added file with covariance calculations
9 years ago
144aa9c461
added base class for data storage
9 years ago
bugobliterator
Paul Riseborough
Roman
nickolasrossi
Mark Charlebois
Lorenz Meier