- 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>
This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
The cross terms (covariances) are now reset before the variance variance is set.
The vertical velocity state variance following a reset without GPS has been reduced.
calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
Daniel Agar
Paul Riseborough
CarlOlsson
Roman
Julian Oes
Beat Küng
Roman Bapst
Roman