40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
9 years ago
a6515543da
Merge pull request #41 from PX4/pr-magFusionUpdates
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EKF2: Prevent declination/heading drift during non-GPS operation
9 years ago
5ea0ef39cd
EKF: Update declination fusion logic
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We do not need to run declination fusion if 3-axis mag fusion is not being used.
9 years ago
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
9 years ago
cdc42c1de0
EKF: Add simple control logic for magnetic declination constraint
9 years ago
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
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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
9347afe250
EKF: Use unique variable name for mag heading fusion observation Jacobian
9 years ago
6aeccf01ff
EKF: Add missing fusion health status messages
9 years ago
a22886544d
EKF: Add missing Kalman gain to Declination fusion autocode
9 years ago
2c8c6efb45
EKF: Eliminate use of power function to square numbers
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Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
9 years ago
42a943b37e
EKF: Fix text errors introduced when editing optical flow fusion autocode fragment
9 years ago
f99256286b
Merge pull request #40 from PX4/pr-updateOpticalFlowAutoCode
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Update EKF Optical Flow Fusion Autocode Fragments
9 years ago
384ce06110
EKF: Add alternative code fragments for optical flow fusion
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These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
9 years ago
dba462b9f3
EKF: Improve efficiency of optical flow fusion auto generated code fragments
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
9bfc11b660
EKF: Use specific position observation noise when flying without GPS
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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
9 years ago
7de1d39ce4
EKF: Improve use of position and velocity observation noise parameters
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Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
9 years ago
2b1e8fe910
EKF: Update tuning parameters
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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
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
8200ef4d17
EKF: allocate and unallocate buffer more robustly
9 years ago
c6249a2825
EKF: change estimator base class name to estimation interface
9 years ago
3cafedd4c1
EKF: start storing samples only when ekf is initialised
9 years ago
b062bd2e38
EKF: move estimator specific variables to estimator core
9 years ago
287f5eb0c2
EKF: move all estimator specific types to common header
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
f1b82057c0
EKF: Combine GPS velocity innovation gate parameters
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Separate vertical and horizontal parameters for GPS velocity innovation gates are not required
9 years ago
466a104534
EKF: additional GPS check logic
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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
92dc41e885
EKF: fix typo in function declaration
9 years ago
3eea6cdcc5
EKF: use namespace for structure definitions
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will be moved to a separate file in the future
9 years ago
001d621eb1
EKF: move imu data processing code to estimator core
9 years ago
251996d387
ekf: move gps checks to Ekf library from estimator_base
9 years ago
46b0e9654c
Add filter control logic
9 years ago
9236f11c80
EKF: Add position and velocity innovation consistency checks
9 years ago
7713cc8c20
Merge pull request #17 from priseborough/pr-addMagErrHandling
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EKF: Add magnetometer fusion error handling
9 years ago
f4b2c0eecf
Merge pull request #11 from mcharleb/PRIu64-fix
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Fixed printf of uint64_t
9 years ago
802129f384
EKF: Add magnetometer fusion error handling
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
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Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
cc50d26601
EKF: Update comments
9 years ago
4526cb9c4f
EKF: remove redundant variable
9 years ago
6326433c47
EKF: Eliminate call to hrt_absolute_time()
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This will make the library more portable
9 years ago
94a6644684
Add comprehensive user selectable GPS checks
9 years ago
8d0022ab1e
enable estimator state and innovations data logging
9 years ago
86df68e404
added interface for parameters
9 years ago
9b7afa2600
Merge pull request #12 from nickolasrossi/master
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fix buffer overflow in constrain of wind velocity
9 years ago
dfbbd36ff7
fix buffer overflow in constrain of wind velocity
9 years ago
79bf35c4b3
Fixed printf of uint64_t
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Must use PRIu64 to prevent compiler errors.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
2c80614e20
Merge pull request #10 from PX4/delta_ang_bias_fix
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fix delta angle bias usage:
9 years ago
Paul Riseborough
Paul Riseborough
Lorenz Meier
Roman
bugobliterator
Lorenz Meier
nickolasrossi
Mark Charlebois