f5a9afd278
moved init
9 years ago
4301e1105b
added commas
9 years ago
0918fa04c7
adopted ekf.cpp
9 years ago
0fb1e0578b
added function for fusing airspeed
9 years ago
c23d72ba29
EKF: Ensure filter control modes are correctly initialised
9 years ago
9f3b1351f7
EKF: Don't initialise velocity to GPS on initial alignment
...
For initial alignment the velocity and position should start at zero
9 years ago
e334a5dc57
EKF: Add check for NaN's on attitude states
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
63b0cf4360
EKF: Fix baro height offset bug
9 years ago
49023f3d7e
EKF: fix travis build error
9 years ago
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
...
This prevents the possibility of output transients if alignment is delayed.
9 years ago
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
9 years ago
370f643f42
EKF: Enable use of range finder for primary height source
9 years ago
cc5512905a
EKF: prevent optical flow, GPS and baro fusion from blocking each other
9 years ago
ffebaf384f
EKF: Set initial optical flow fusion monitor outputs to zero
9 years ago
d97d308ca7
EKF: Add control of optical flow and range finder fusion
9 years ago
d5e47d21db
EKF: miscellaneous comment and format changes
9 years ago
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
9 years ago
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
9 years ago
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
9 years ago
48e80e9e3e
Correct C style array initialization.
9 years ago
ccb5736353
Spaces to tab.
9 years ago
a4cecb1704
Match variable initialization order difference with upstream.
9 years ago
79d07c831f
Convert spaces to tabs to match upstream.
9 years ago
6c96f45f08
Remove whitespace differences with upstream for pull request.
9 years ago
a711632017
EKF: Add method to fuse horizontal magnetometer data
...
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
9 years ago
72243c4a84
Resolve tab/space differences with upstream master.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
c089079321
EKF: Split tilt and yaw align
9 years ago
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
9 years ago
ce0ddc0207
-added comments
...
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
9d7340e187
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
9 years ago
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
9 years ago
fff2bd50f6
EKF: Fix bugs in position and velocity resets
...
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
9 years ago
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
9 years ago
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
9 years ago
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
...
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
b21a49b3f9
EKF: Use standard C++ initializers
9 years ago
b749a7557b
fixed typos
9 years ago
d79e12dfa1
EKF: fix code style
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
466a104534
EKF: additional GPS check logic
...
Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
9 years ago
a779d45cd0
ekf2: fix bug causing faulty imu data storage
9 years ago
001d621eb1
EKF: move imu data processing code to estimator core
9 years ago
46b0e9654c
Add filter control logic
9 years ago
802129f384
EKF: Add magnetometer fusion error handling
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
...
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
8d0022ab1e
enable estimator state and innovations data logging
9 years ago
0b5c90574c
fix delta angle bias usage:
...
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
9 years ago
CarlOlsson
Paul Riseborough
mcsauder
Roman
Lorenz Meier
bugobliterator