4044abdd20
fixed output state variable name state_variance to state_variances
5 years ago
cd9e81539c
Expand IMU Down Sampling tests
5 years ago
de58ab9167
inline newly added function save 60Bytes
5 years ago
be11516dd6
Refactor IMU downsampling into its own class
5 years ago
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
1b0e137b8a
Test external vision
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
db73a06620
Use robust AxisAngle constructor
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
a4a694dd87
Disable Coverage option until GCC9 is default
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This would simplify coverage builds, but is not widely available yet.
5 years ago
3d3267ed1f
Fix CMake configuration for coverage tests on Mac OS
5 years ago
57144beb98
gitignore update for in tree cmake builds
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
7d3814b1d8
Add orientation initialization tests
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
0831c158f2
Move time update to sensor base class
5 years ago
1832bedd13
run_seconds
5 years ago
39b369d90b
make ekf a shared pointer
5 years ago
f13f2f8452
use shared pointer
5 years ago
00cd720a66
Change folder name
5 years ago
b9dd1e54c5
Change file names
5 years ago
2d2edd90e3
ECL Unit Test Clean Up
5 years ago
6b25dbd6c7
SensorSimulator
5 years ago
Tom Wang
kamilritz
Paul Riseborough
Lorenz Meier
Daniel Agar