2bc50489fd
Merge pull request #210 from PX4/remove_KH
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EKF: reduce KH to only the elements that are really needed, and merge the loops
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
f472324ae8
DataValidatorGroup: remove the assert
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(avoid crashes in flight)
8 years ago
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
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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
227938d263
DataValidatorGroup: add add_new_validator() to dynamically add new validators
8 years ago
ded3b1a690
DataValidatorGroup: fix memory leak, delete all DataValidator's in destructor
8 years ago
b870f92e1c
DataValidator: use 32bit timeout instead of 64bit, saves memory
8 years ago
d07692e87e
Merge pull request #204 from PX4/pr-gpsReset
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ekf reset: more granular reset / timeout strategy for gps fusion
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
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available
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
c5f750dcca
ekf reset: more granular reset / timeout strategy for gps fusion
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- 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
65de4962b5
Merge pull request #203 from PX4/pr-ekfVibeReporting
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EKF: Add IMU vibration calculation and reporting
8 years ago
b10b0184c5
EKF: Add IMU vibration calculation and reporting
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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)
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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
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
238d947239
proper handling of position and velocity reset
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- 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
394bfdc935
Update README.md
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Fix prerequisites.
8 years ago
0d02bb2612
ecl attitude_fw fix excessive body fixed turn offset
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-limit body fixed turn offset contrained roll to possible
roll setpoint range
-fixes #181
8 years ago
7dbb43f2cd
Update matrix.
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
5ab90048e1
Merge pull request #184 from PX4/pr-rngDelayFix
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fixed computation of range measurement timestamp
8 years ago
b29174d86b
Merge pull request #193 from PX4/pr-haglInit
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Pr hagl init
8 years ago
5702c2d51b
Merge pull request #186 from priseborough/pr-ekfOutputPredictor
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EKF: Improve Output Predictor Tracking
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
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Implements a PI tracking loop
8 years ago
4fefe5c6c6
cmake: stack size args cleanup
8 years ago
616aeb9ad7
ekf_helper: fix forgotten return value
8 years ago
fd403b733d
CMakeLists: don't always optimize for size
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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
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
cc05db4985
terrain estimator: pass initialisation return value correctly
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
d53f532079
fixed computation of range measurement timestamp
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
7240fc78fe
Merge pull request #183 from CarlOlsson/cont_wind_estimation
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Fix wind state and wind variance initialization
9 years ago
eab57b0187
Merge pull request #189 from PX4/revert-188-matrix_update
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Revert "Update matrix."
9 years ago
e5b74f511f
Revert "Update matrix."
9 years ago
90f6bd7f3d
Merge pull request #188 from PX4/matrix_update
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Update matrix.
9 years ago
1daea6c1a3
Update matrix.
9 years ago
8d60da1442
removed old wind initialization
9 years ago
51c8715638
fixed issue with airspeed never fused
9 years ago
d1d56d9e5e
EKF: Add logic to to control wind state estimation
9 years ago
75bec44b94
EKF: add function to initialise wind states
9 years ago
6dff2df28e
EKF: Add method to reset wind state covariances
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Set variances in polar coordinates and rotate into cartesian frame
9 years ago
eff9af549f
scripts: derive conversion from polar to cartesian wind state covariance
9 years ago
a9894d7e8c
EKF: improve efficiency of airspeed fusion
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Don't compute array entries where the result will be zero
9 years ago
Paul Riseborough
Beat Küng
Paul Riseborough
Roman
Lorenz Meier
Daniel Agar
James Goppert
Julian Oes
James Goppert
CarlOlsson