Tree: 75d1ed894c

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Commit Graph

25 Commits (75d1ed894c3c8a2ece2c6af1d27c5dfd015bfe09)

Author	SHA1	Message	Date
Paul Riseborough	1d3e8edc46	EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation	8 years ago
Daniel Agar	99ba1c3745	EKF trivial code style cleanup	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	e35921534d	EKF: fix reporting of optical flow fusion errors	8 years ago
Paul Riseborough	465b145929	EKF: Add multi-rotor drag model for wind estimation	8 years ago
Paul Riseborough	b536382ae1	EKF: remove dead code	8 years ago
Beat Küng	07c6aabd98	EKF: reduce KH to only the elements that are really needed, and merge the loops	8 years ago
Paul Riseborough	1b59a89a18	EKF: save some stack memory	8 years ago
Beat Küng	25cb400da9	EKF: remove Ekf::KHP and move KHP to the methods where it's used ... Everywhere where KHP is used, it is first completely reset, thus making it unnecessary to keep it as a class member. This saves 2.3KB RAM. Stack sizes don't need changing, since there is already a function Ekf::predictCovariance(), which needs around 3KB of stack and is called close to where the fuse* functions are called.	8 years ago
Paul Riseborough	7bc9217f00	EKF: Clean up control of observation fusion ... 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.	9 years ago
Paul Riseborough	65da9173b9	EKF: capture innovation checks and reset events in separate variables ... rename the innovation check status class variable and remove the reset flags from it.	9 years ago
Paul Riseborough	52229da089	EKF: capture optical flow innovation test failures	9 years ago
Paul Riseborough	724280fd1f	EKF: move calculation of optical flow observation variance into a function ... Allows it to be used when calculating initial state variance	9 years ago
Paul Riseborough	020b87933e	EKF: replace fault status struct with a union to facilitate logging	9 years ago
Paul Riseborough	7f5669fb2d	EKF: consolidate covariance corrections ... 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.	9 years ago
Paul Riseborough	9e53ff2f80	EKF: Improve protection against bad optical flow fusion	9 years ago
Paul Riseborough	da9d894441	EKF: Improvements to covariance reset	9 years ago
Paul Riseborough	f4e84a2234	EKF: fix axis label error in comments	9 years ago
Paul Riseborough	82da832816	EKF: tidy up Kalman gain calculations ... Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.	9 years ago
Paul Riseborough	fe9f88a8b4	EKF: test new derivation ... Use direct attitude parameterisation Discard scale factors Add accel bias	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	b46053415f	EKF: Compensate optical flow data for sensor position offset	9 years ago
Paul Riseborough	48f980b054	EKF: Fix syntax causing posix build to fail	9 years ago
Paul Riseborough	dd1d58bab5	EKF: Remove unnecessary matrix operations from optical flow fusion ... The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.	9 years ago
Paul Riseborough	122dd9c531	EKF: Add source file for optical flow LOS rate fusion	9 years ago