c7e074276f
Save flash space
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This commit saves roughly 400-500 Bytes in flash space
5 years ago
94484f01ce
save flash space
5 years ago
84dcb32bd8
Extend auxVel interface to support 3d velocity
5 years ago
07e8e88e88
Support full vision variance
5 years ago
4ab3dd50c9
pass Vector by const reference
5 years ago
2657e4fc0c
Improve naming and white space
5 years ago
1fcfd394dd
Various small non-functional improvements
5 years ago
deeac03d6a
Clean up height reset logic booleans
5 years ago
cec6d76577
Raise awareness for drag variance(!=stdDev) bug
5 years ago
0b18143745
Improve readibility
5 years ago
3daf25763e
Remove unnecessary comments
5 years ago
36da8d82c8
Clean up white space
5 years ago
48787c0160
Improve Matrix library usage
5 years ago
a21a7cd5b9
Remove output argument from calcEarthRateNed
5 years ago
9e6d27fafb
Add missing const qualifier
5 years ago
066392ef02
Improve naming
5 years ago
f99dbd8ca3
Improve naming and brackets
5 years ago
1c68709949
Rename mag ambiguous mag abbreviations with magnitude
5 years ago
a24aaad861
CleanUp GPS drift checks
5 years ago
c6e3f389d2
Replace calculation of earth NED rotation vector
5 years ago
9f053cb8c1
Simplify covariance getters
5 years ago
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
5 years ago
166d260058
EKF: Provide auto-code output that uses (row, col) syntax for covariance matrix
5 years ago
92ba618f57
Improve on flash memory usage
5 years ago
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
5 years ago
490c749f80
Revert if statement swap in resetMagHeading
5 years ago
a6bbafc7b0
Remove unnecessary initialiseCovariance
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It is already called in reset()
5 years ago
ef9f1053d0
Random improvements
5 years ago
01495ede97
Clean initialiseFilter function ( #687 )
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* Clean initialiseFilter
* Add const qualifiers
5 years ago
532c9abd4a
Expand test framework and test cases ( #685 )
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* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
5 years ago
6c25ac5731
Tilt Initialisation: Average Filter -> LowPass Filter ( #686 )
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* Tilt Initialisation: Average Filter -> LowPass Filter
* Add _is_first_imu_sample variable
* Remove not needed comments
5 years ago
98a1aae494
EKF: use Matrix cross product
5 years ago
85e0e6e89c
Remove resetStates(AndCovariances) function
5 years ago
64652f523b
Improve quality of comments
5 years ago
1bf09fd370
Remove EKF prefix from logged messages
5 years ago
88c4929c96
Use helper function to switch to gps height
5 years ago
042d9b6615
Remove dangerous _primary_hgt_source variable
5 years ago
66f707ede0
Remove non enterable if statement
5 years ago
cd030e7cd2
Remove switch to ev hgt during filter initialization
5 years ago
4bc6ae69ae
Remove if statement that can not be entered
5 years ago
6941777e17
Remove obsolete vision sample counter during initialization
5 years ago
181303488c
Log height innovation sensor specific
5 years ago
f32fce28a3
Fix gps vertical observation variance
5 years ago
ecd199d5d0
Fix vel pos test ratio
5 years ago
2df2dede2f
Fix variance vs stdDev bug
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(cherry picked from commit 0faea89da2a3326d070a6ecca93ec52ec3e29591)
5 years ago
3923c5fecb
Add get*innovation* functions as overide
5 years ago
07e804676c
Rename IMU biases
5 years ago
dae8c2f8dc
Group velocity and position as a 3d vector
5 years ago
beedf1ce4f
Add print statement to reset vel or pos function
5 years ago
5c038a3b43
Add stop*Fusion function
5 years ago
kamilritz
Paul Riseborough
Daniel Agar