654093cae1
Merge pull request #155 from PX4/pr-ekf2AlignmentNoiseFilterInit
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EKF: Initialise alignment noise filters using valid data
9 years ago
70c40d695d
EKF: Initialise alignment noise filters using valid data
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Don't initialise the states for the alignment data noise filters until the buffers have been flushed
9 years ago
35bb6cc6e9
Merge pull request #154 from PX4/pr-ekf2AlignmentBufferFlush
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EKF: Ensure bad initial data is flushed from buffers before use
9 years ago
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
9 years ago
9557f64248
Merge pull request #153 from PX4/pr-ekf2ExternalVision
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EKF: external vision bug fixes
9 years ago
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
9 years ago
98c0b74a71
EKF: Initialise height correctly when using external vision data
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If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
9 years ago
9f81b8f09e
EKF: provide reset protection for external vision height
9 years ago
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
9 years ago
00bada8f25
EKF: Clean up logic for horizontal position fusion
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Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
9 years ago
6f412a73b4
EKF: Use correct height gate when using external vision
9 years ago
e41524ac9d
EKF: remove unused variables
9 years ago
53030b9297
Merge pull request #152 from PX4/pr-ekf2FixObsDataHandling
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EKF: Fix vulnerability to loss of observations due to high input data rates
9 years ago
7dd123094f
EKF: correct documentation
9 years ago
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
9 years ago
e2d9e19a5d
Merge pull request #148 from PX4/pr-ekf2OutputPredictor
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EKF2 provide alternative output velocity prediction
9 years ago
9f0b9909e7
Merge pull request #149 from PX4/pr-ekf2FixUnwantedGpsUse
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EKF: prevent unwanted GPS use
9 years ago
5a40aa2c1a
EKF: prevent unwanted GPS use
9 years ago
90d65071c1
EKF: Add output predictor processing option
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Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.
This may improve height controller performance under some circumstances
9 years ago
30917430e2
EKF: inline ring buffer functions used repeatedly
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These functions get called 30 times each per output prediction cycle
9 years ago
c8c2d6d963
Merge pull request #145 from CarlOlsson/small_fix
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Deleted second update of transformation matrix
9 years ago
0fafc49a49
fixed typos ( #147 )
9 years ago
dbe2513d48
updated logic of calculation of body field variance ( #146 )
9 years ago
eb70aca2e8
deleted second update of transformation matrix
9 years ago
4c5252269c
Merge pull request #142 from PX4/pr-ekf2ImproveHeadingReset
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EKF: Improved heading reset
9 years ago
ae5071f668
EKF: Improve heading reset
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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.
9 years ago
4b279a8836
Merge pull request #144 from waltjohnson/master
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Addressed C99 compiler issues of initializing variables in header and…
9 years ago
a9ca8c294c
Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52)
9 years ago
6eaa00e3f9
isfinite() is not part of the math class, rather the math.h header file.
9 years ago
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
9 years ago
f5e2dabc2b
Create CONTRIBUTING.md
9 years ago
e3b9800cac
Merge pull request #138 from pickledgator/evTesting
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EV testing
9 years ago
867bc8c601
Merge pull request #139 from PX4/pr-ekf2Alignment
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EKF: Improve angular alignment consistency
9 years ago
c1b02eaa91
EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned
9 years ago
aaac867da8
EKF: Adjust tilt alignment threshold
9 years ago
e272d5f003
EKF: Use consistent position noise values during alignment
9 years ago
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
9 years ago
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
9 years ago
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
9 years ago
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
9 years ago
50ba26a434
Merge pull request #134 from PX4/pr-ekf2Alignment
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EKF: Improved tilt alignment control
9 years ago
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
9 years ago
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
9 years ago
a4728bc748
EKF: derive auto-code for quaternion state covariance initialisation
9 years ago
88860d0307
EKF: Enable tuning for IMU switch on bias errors
9 years ago
1540e937b1
EKF: Improve tilt alignment monitoring
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
9 years ago
6ca8a36782
EKF: Add matlab derivation for calculation of rotation vector variance
9 years ago
d5046b078e
Merge pull request #106 from PX4/pr-visionSupport
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EKF: add support for external vision data
9 years ago
c955bfbf93
EKF: fix previous merge error
9 years ago
920d83d68c
EKF: Fix bugs preventing use of external vision yaw data
9 years ago
Paul Riseborough
Paul Riseborough
Carl Olsson
waltjohnson
Nic