7e2597ec28
update range sensor angle parameters in case they have changed
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
aa53f45f15
terrain estimator: removed unused hrt dependancy
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Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
6480fcc3d5
terrain estimator: fixed computation of filtered time since last range update
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- do not use hrt to compute delta time
- limit filter state
- do not use static variables
Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago
6561edb9a5
EKF: Clean up terrain estimation functionality.
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This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
8 years ago
8004e9fe7e
EKF: Make range finder data continuous check more robust
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Use a filtered arrival time delta to determine if range data is continuous
8 years ago
d94068b88a
EKF: Simplify calculation of height above terrain observation variance
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The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
8 years ago
3dadc98b43
EKF: enable scaling of range observation variance with height
8 years ago
cf9c8de167
EKF: Add arbitrary pitch offset for range sensor
8 years ago
d9688fae7d
EKF: Simplify terrain position validity check
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Remove the relative accuracy check that was false triggering close to ground
8 years ago
7883085e4a
clang-tidy readability-simplify-boolean-expr ( #235 )
8 years ago
744b79c1b2
EKF: Publish innovation test ratios
8 years ago
c6e1d97176
terrain estimator: initialise with projection
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Signed-off-by: Roman <bapstroman@gmail.com>
9 years ago
65da9173b9
EKF: capture innovation checks and reset events in separate variables
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rename the innovation check status class variable and remove the reset flags from it.
9 years ago
d80e71a499
EKF: capture HAGL innovation test failures
9 years ago
172f4be594
EKF: Fix bug in calculation of terrain observation variance
9 years ago
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
9 years ago
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
9 years ago
d2407c3463
EKF: code style updates
9 years ago
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
9 years ago
1a2da887ab
EKF: Fix bug in calculation of terrain estimator Kalman gain
9 years ago
82cbfafb34
EKF: Add source file for terrain vertical position estimator
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Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
9 years ago
Roman
Paul Riseborough
devbharat
Daniel Agar