403424d55d
EKF: fix cross compiler build errors
8 years ago
d5b398ddb1
EKF: Minimise data buffer lengths
...
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
8 years ago
750a8874c1
EKF: Improve recovery and reporting for badly conditioned sideslip fusion
...
Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
8 years ago
6c7703d485
EKF: Update tuning for synthetic sideslip fusion
...
Used value that worked well for replay of flight logs
8 years ago
f76a2a5ff7
EKF: fix bug in sideslip fusion and reduce RAM usage
...
The bug meant the Y velocity (state index 5) covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
8 years ago
951c8b77af
EKF: Improve wind state reset logic
...
Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
8 years ago
2fedbc8a18
EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency
8 years ago
352b4ca177
EKF: Allow sideslip fusion with airspeed fusion
8 years ago
fb6f4be453
EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning
8 years ago
a9182259a5
fixed bug in beta fusion
8 years ago
0e3ae4b323
fixed issue with the covariance update in synthetic sideslip fusion
8 years ago
e1d9d503e3
updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated
8 years ago
dec686afd7
updated parameters
8 years ago
5205a8198b
added function to control when to fuse beta
8 years ago
f5d0228cd5
include ecl.h
8 years ago
beb90f008d
adopted code for upstream changes
8 years ago
b7a4a1358f
added sidelip_fusion.cpp
8 years ago
12aeaafbd3
adopted estimator_interface.h
8 years ago
c8e3c24150
adopted ekf_helper.cpp
8 years ago
8f6c75bb0b
adopted ekf.h
8 years ago
15768f6f93
adopted ekf.cpp
8 years ago
738414d36e
adopted common.h
8 years ago
6c9cc5691c
adopted EKF/CMakeLists
8 years ago
8aee45dd96
EKF: Fix bug causing repeated resets if GPS sensor disconnected
8 years ago
07c6aabd98
EKF: reduce KH to only the elements that are really needed, and merge the loops
8 years ago
1b59a89a18
EKF: save some stack memory
8 years ago
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
...
Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
8 years ago
79df7e8889
EKF: Reduce effect of bad airspeed when other aiding data available
8 years ago
968cfae632
EKF: Fix bug preventing fallback from GPS mode if GPS is lost
8 years ago
63cf3d50be
ekf gps reset: do not bother checking for need of reset if gps is not
...
available
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
c5f750dcca
ekf reset: more granular reset / timeout strategy for gps fusion
...
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
b10b0184c5
EKF: Add IMU vibration calculation and reporting
...
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
8 years ago
17c195d1cd
ekf2 height reset: do not apply height change to height state twice (bug)
...
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
1093e6d789
EKF: fix documentation error
8 years ago
f80b3481a4
reset the newest output sample for all possible resets
...
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
238d947239
proper handling of position and velocity reset
...
- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
79b1d3018d
EKF: Fix magnetometer innovation test ratio reporting bug
8 years ago
352750e5d1
EKF: publish ekf solution status summary data
8 years ago
007e73379f
EKF: Improve reporting of position error
8 years ago
744b79c1b2
EKF: Publish innovation test ratios
8 years ago
b5ba4f280f
EKF: reduce output predictor velocity time constant
8 years ago
65762e5998
EKF: publish output predictor tracking errors
8 years ago
c81f9f1dba
EKF: Reduce output predictor tracking errors
...
Implements a PI tracking loop
8 years ago
616aeb9ad7
ekf_helper: fix forgotten return value
8 years ago
fd403b733d
CMakeLists: don't always optimize for size
...
Going forward the optimization flags should be set for a platform,
rather than for each individual module.
8 years ago
c6e1d97176
terrain estimator: initialise with projection
...
Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
cc05db4985
terrain estimator: pass initialisation return value correctly
...
Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
d53f532079
fixed computation of range measurement timestamp
...
Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
8d60da1442
removed old wind initialization
9 years ago
51c8715638
fixed issue with airspeed never fused
9 years ago
Paul Riseborough
CarlOlsson
Beat Küng
Roman
Julian Oes