328 Commits (62e15cbacf865e7ea32623fa6dda87185b4f3a5e)

Author SHA1 Message Date
Paul Riseborough c91c78dcf6 EKF: Allow reset of yaw to EKF-GSF later in flight 5 years ago
kritz 716caa5168
Refactor position resets (#822) 5 years ago
Paul Riseborough 19bbea75c0
Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813) 5 years ago
kritz 24f2e60b7e
Reduce stored strings, to save flash space (#815) 5 years ago
kritz 98801ad17b
Support vision velocity expressed in body frame too (#708) 5 years ago
kritz c3de452e8e
Remove duplicate code during vision yaw reset (#810) 5 years ago
kritz 03191847f9
Fix ev_pos_obs_var(1) entry (#809) 5 years ago
Kamil Ritz 440383f039 Increase matrix library usage and remove white line 5 years ago
Paul Riseborough cda7486897
EKF: Prevent yaw reset to GPS caused by loss of GPS data (#805) 5 years ago
bresch 30d69aa45b Ekf: extract baro height offset computation 5 years ago
bresch 6b64cf0770 Ekf: centralize GPS height fusion startup 5 years ago
bresch 61763544b6 Ekf: centralize baro fusion startup 5 years ago
kritz fa5a00d871
Refactor velocity reset (#788) 5 years ago
Kamil Ritz d6b6276cdc change naming from tiltOffset to pitchOffset 5 years ago
bresch 572ad2df0a SensorRangeFinder: add distBottom function to get the vertical distance 5 years ago
Mathieu Bresciani 0623b2b02d
Range check cleanup (#782) 5 years ago
Paul Riseborough 89b5c77d5d
EKF: Enable GPS flight without magnetometer (#770) 5 years ago
Mathieu Bresciani 3bd09fdcd3
EKF: fix range height sensor offset (#787) 5 years ago
bresch d09473da89 Ekf control: do not set hgt mode if already set 5 years ago
bresch 684737eab1 Ekf control: replace individual by global check of baro/GPS health 5 years ago
bresch 320a90d146 EKF control: extract checkVerticalAccelerationHealth logic 5 years ago
CarlOlsson 93be6ea49a EKF: dont print wrong reset message on baro timeout 5 years ago
Paul Riseborough 4669aa6312
EKF: Add Emergency yaw recovery using EKF-GSF estimator (#766) 5 years ago
Mathieu Bresciani 230c865fa9
EKF: do not fuse multiple times the same height (#767) 5 years ago
Daniel Agar 4fab6057a7 EKF control height fusion add switch statement for all dist sensor types 5 years ago
bresch 81c6d6655f ekf: clean uncorrelateQuatStates function 5 years ago
kamilritz da752c9e30 Hot flow fusion fix 5 years ago
kritz ee859e092a Robustify timestamp checks (#729) 5 years ago
bresch e3af91c9ce Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel) 5 years ago
kamilritz f3d790a664 Update optical flow interface 5 years ago
kamilritz 4b0e7b2cff Remove filtering on external vision alignment 5 years ago
bresch 0f4439d281 optical flow: inhibit flow fusion only when the terrain estimate gets invalid 5 years ago
kamilritz 94484f01ce save flash space 5 years ago
kamilritz 84dcb32bd8 Extend auxVel interface to support 3d velocity 5 years ago
kamilritz 07e8e88e88 Support full vision variance 5 years ago
kamilritz 2657e4fc0c Improve naming and white space 5 years ago
kamilritz 1fcfd394dd Various small non-functional improvements 5 years ago
kamilritz deeac03d6a Clean up height reset logic booleans 5 years ago
kamilritz 48787c0160 Improve Matrix library usage 5 years ago
kamilritz 9e6d27fafb Add missing const qualifier 5 years ago
kamilritz 1c68709949 Rename mag ambiguous mag abbreviations with magnitude 5 years ago
kamilritz 92ba618f57 Improve on flash memory usage 5 years ago
kamilritz 459b76f9fd Make covariance matrices of type matrix::SquareMatrix 5 years ago
kamilritz ef9f1053d0 Random improvements 5 years ago
kritz 532c9abd4a Expand test framework and test cases (#685) 5 years ago
kritz 6c25ac5731 Tilt Initialisation: Average Filter -> LowPass Filter (#686) 5 years ago
Daniel Agar 98a1aae494 EKF: use Matrix cross product 5 years ago
kamilritz 1bf09fd370 Remove EKF prefix from logged messages 5 years ago
kamilritz 181303488c Log height innovation sensor specific 5 years ago
kamilritz f32fce28a3 Fix gps vertical observation variance 5 years ago