2b0d5c28f0
EKF: capture full quaternion change for reset events
9 years ago
b2e432e211
EKF: publish position and velocity reset data
9 years ago
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
9 years ago
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
9 years ago
0605c88ecc
EKF: capture horizontal position reset events
9 years ago
e3a1b4a3b3
EKF: capture velocity reset events
9 years ago
4237269fab
EKF: add struct to capture state reset events
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
79705da7e6
EKF: make output predictor states consistent with position reset
9 years ago
54d90261d5
EKF: make output predictor states consistent with velocity reset
9 years ago
52229da089
EKF: capture optical flow innovation test failures
9 years ago
d80e71a499
EKF: capture HAGL innovation test failures
9 years ago
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
9 years ago
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
9 years ago
cf489f4248
EKF: capture airspeed innovation test failures
9 years ago
e7690bd8f8
EKF: capture magnetometer innovation test failures
9 years ago
3fb449295e
EKF: capture yaw innovation test failures
9 years ago
52f6eea52b
EKF: capture position and velocity innovation test failures
9 years ago
aea827aa8a
EKF: ensure filter fault status is initialised
9 years ago
106482b078
EKF: add structure to capture innovation test failures and state resets
9 years ago
70c40d695d
EKF: Initialise alignment noise filters using valid data
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Don't initialise the states for the alignment data noise filters until the buffers have been flushed
9 years ago
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
9 years ago
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
9 years ago
98c0b74a71
EKF: Initialise height correctly when using external vision data
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If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
9 years ago
9f81b8f09e
EKF: provide reset protection for external vision height
9 years ago
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
9 years ago
00bada8f25
EKF: Clean up logic for horizontal position fusion
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Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
9 years ago
6f412a73b4
EKF: Use correct height gate when using external vision
9 years ago
e41524ac9d
EKF: remove unused variables
9 years ago
7dd123094f
EKF: correct documentation
9 years ago
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
9 years ago
5a40aa2c1a
EKF: prevent unwanted GPS use
9 years ago
90d65071c1
EKF: Add output predictor processing option
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Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.
This may improve height controller performance under some circumstances
9 years ago
30917430e2
EKF: inline ring buffer functions used repeatedly
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These functions get called 30 times each per output prediction cycle
9 years ago
0fafc49a49
fixed typos ( #147 )
9 years ago
dbe2513d48
updated logic of calculation of body field variance ( #146 )
9 years ago
eb70aca2e8
deleted second update of transformation matrix
9 years ago
ae5071f668
EKF: Improve heading reset
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Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
9 years ago
a9ca8c294c
Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52)
9 years ago
6eaa00e3f9
isfinite() is not part of the math class, rather the math.h header file.
9 years ago
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
9 years ago
c1b02eaa91
EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned
9 years ago
aaac867da8
EKF: Adjust tilt alignment threshold
9 years ago
e272d5f003
EKF: Use consistent position noise values during alignment
9 years ago
b9a3712ccb
EKF: record yaw alignment event during initialisation to allow heading fusion to start early
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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
9 years ago
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
9 years ago
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
9 years ago
1b16f3575a
added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid
9 years ago
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
9 years ago
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
9 years ago
Paul Riseborough
Carl Olsson
waltjohnson
Nic