CarlOlsson
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92abf93c8f
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adopted common.h
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9 years ago |
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CarlOlsson
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0fb1e0578b
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added function for fusing airspeed
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9 years ago |
Paul Riseborough
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400a6e12ba
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EKF: Ensure all data in buffers is initialised
This is a defensive change to prevent introduction of NaN's into the filter if data is read from the incorrect place in the buffer.
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9 years ago |
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Paul Riseborough
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064a0e4dbc
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EKF: Don't use GPS to set position noise when not using GPS
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9 years ago |
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Paul Riseborough
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c23d72ba29
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EKF: Ensure filter control modes are correctly initialised
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9 years ago |
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Paul Riseborough
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9f3b1351f7
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EKF: Don't initialise velocity to GPS on initial alignment
For initial alignment the velocity and position should start at zero
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9 years ago |
|
Paul Riseborough
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687fcc70be
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EKF: Explicitly define type conversion for GPS height
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9 years ago |
|
Paul Riseborough
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e334a5dc57
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EKF: Add check for NaN's on attitude states
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9 years ago |
|
Paul Riseborough
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6b2e2dba90
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EKF: Add GPS height option and improve height recovery
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9 years ago |
|
Paul Riseborough
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63b0cf4360
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EKF: Fix baro height offset bug
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9 years ago |
|
Paul Riseborough
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49023f3d7e
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EKF: fix travis build error
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9 years ago |
|
Paul Riseborough
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7677a162aa
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EKF: Don't start the output observer before the main filter has initialised
This prevents the possibility of output transients if alignment is delayed.
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9 years ago |
|
Paul Riseborough
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d2407c3463
|
EKF: code style updates
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9 years ago |
|
Paul Riseborough
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c58ab3e256
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EKF: Enable fallback to baro alt when using range finder for height
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9 years ago |
|
Paul Riseborough
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370f643f42
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EKF: Enable use of range finder for primary height source
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9 years ago |
|
Paul Riseborough
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109e0e6dfc
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EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
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9 years ago |
|
Paul Riseborough
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26238bc2f5
|
EKF: Allow for change in position when defining the WGS-84 origin position
This allows GPS aiding to commence later in flight without step changes in local position output
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9 years ago |
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Paul Riseborough
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e0fcce1463
|
EKF: Make position and velocity reset publish success
Some users of the position and velocity reset functions will need to know if the reset has been successful.
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9 years ago |
|
Paul Riseborough
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48f980b054
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EKF: Fix syntax causing posix build to fail
|
9 years ago |
|
Paul Riseborough
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eab0ef4266
|
EKF: Update default process noise for terrain estimator
|
9 years ago |
|
Paul Riseborough
|
962fd0aaf2
|
EKF: Adjust terrain process noise for gradient effect
|
9 years ago |
|
Paul Riseborough
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1a2da887ab
|
EKF: Fix bug in calculation of terrain estimator Kalman gain
|
9 years ago |
|
Paul Riseborough
|
cc5512905a
|
EKF: prevent optical flow, GPS and baro fusion from blocking each other
|
9 years ago |
|
Paul Riseborough
|
ffebaf384f
|
EKF: Set initial optical flow fusion monitor outputs to zero
|
9 years ago |
|
Paul Riseborough
|
5acd1cbac4
|
EKF: Make definitions of parameters clearer for external use
|
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
|
b3b0f1347a
|
EKF: Make normal GPS mode the default
|
9 years ago |
|
Paul Riseborough
|
d97d308ca7
|
EKF: Add control of optical flow and range finder fusion
|
9 years ago |
|
Paul Riseborough
|
836fe39070
|
EKF: Update external interface functions to support optical flow
|
9 years ago |
|
Paul Riseborough
|
2ff338048d
|
EKF: Add support for range-finder fusion as primary height reference
|
9 years ago |
|
Paul Riseborough
|
2c2850c0ce
|
EKF: Add functions to get position and velocity state variance
|
9 years ago |
|
Paul Riseborough
|
32b03819ef
|
EKF: Add function to calculate global position validity
|
9 years ago |
|
Paul Riseborough
|
270451e17b
|
EKF: Update height reset to support range finder height use
|
9 years ago |
|
Paul Riseborough
|
dca186c6e8
|
EKF: Add required declarations for optical flow
|
9 years ago |
|
Paul Riseborough
|
122dd9c531
|
EKF: Add source file for optical flow LOS rate fusion
|
9 years ago |
|
Paul Riseborough
|
82cbfafb34
|
EKF: Add source file for terrain vertical position estimator
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
|
9 years ago |
mcsauder
|
6a61f9ba77
|
Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications.
|
9 years ago |
|
mcsauder
|
115c87a0ea
|
Remove an include that was unnecessary.
|
9 years ago |
|
mcsauder
|
1aee1b895a
|
Uncomment commented lines that removed Eigen namespaces and dependencies.
|
9 years ago |
|
mcsauder
|
f9be23933b
|
Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4.
|
9 years ago |
|
Paul Riseborough
|
5242af84af
|
EKF: Standardise covariance update and use static arrays for large matrices
|
9 years ago |
|
Paul Riseborough
|
1414d591ce
|
EKF: Fix bug in declination fusion indexing
|
9 years ago |
Roman Bapst
|
b2744f965d
|
use in_air flag from land detector to determine if we are on the ground
|
9 years ago |
|
Paul Riseborough
|
569886a4fc
|
EKF: Fix bug in velocity and position innovation consistency checks
|
9 years ago |
|
mcsauder
|
f9e3db0504
|
Move variable initializations from header file to constructor to allow C99 compliance.
|
9 years ago |
|
Paul Riseborough
|
d8627c6aaf
|
EKF: Reset the vertical position states if height fusion times out
|
9 years ago |
|
Paul Riseborough
|
f7a53d69f2
|
EKF: Improve height reset function
Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
|
9 years ago |
|
Paul Riseborough
|
a6da73fa83
|
EKF: Add missing div0 protection
|
9 years ago |
|
Paul Riseborough
|
d5e47d21db
|
EKF: miscellaneous comment and format changes
|
9 years ago |
|
Paul Riseborough
|
7c83ac4b6d
|
EKF: Use heading fusion as default for startup and ground operation
|
9 years ago |
