106482b078
EKF: add structure to capture innovation test failures and state resets
9 years ago
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
9 years ago
e41524ac9d
EKF: remove unused variables
9 years ago
57b2a256f7
EKF: Improve initialisation of quaternion covariances
...
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
88860d0307
EKF: Enable tuning for IMU switch on bias errors
9 years ago
920d83d68c
EKF: Fix bugs preventing use of external vision yaw data
9 years ago
b681c9a5d0
Added external vision noise parameters etc and position offset
9 years ago
ff8f03b5dd
Added compensation for VI sensor offset. Check sign.
9 years ago
e917d6c7f2
EKF: Add fusion of external yaw data
9 years ago
81469d6621
EKF: Add position, height and velocity reset for EV aiding
9 years ago
3a0fcd03d7
EKF: Add interfaces and variables to use ext vision data
9 years ago
c7e225124c
EKF: Improve output observer position and velocity tracking
...
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
9 years ago
b126921894
changed airspeed innovation gate to 5 ( #119 )
9 years ago
1a24ec5f50
EKF: remove unused flag from control status message
9 years ago
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
310bd97080
EKF: Improve protection against bad pos vel fusion
9 years ago
d9aeace6ac
EKF: tuning update
9 years ago
1daa6c7866
EKF: update tuning defaults
9 years ago
fc6c0c7ebf
EKF: Update covariance prediction
...
Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
9 years ago
ecaffe63af
EKF: update tuning defaults
9 years ago
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
...
This also makes the tuning less sensitive to changes in the EKF update rate.
9 years ago
799865c934
EKF: update default tuning parameters
9 years ago
311d046a26
EKF: Enable optional activation of XY delta velocity bias estimation
9 years ago
67d23948b5
EKF: preliminary re-tune
9 years ago
03c35266ef
EKF: remove unused parameter
9 years ago
fe9f88a8b4
EKF: test new derivation
...
Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
e3365525c2
EKF: rework height reset logic
9 years ago
99fc61c27c
ekf2 airspeed fusion:
...
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
3455931617
EKF init: Fix initialization statement
9 years ago
ea38aa130f
EKF: update default time delay parameter values
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
3580940e10
EKF: Add sensor position offset parameters
9 years ago
470098e182
EKF: update default tuning parameters
...
Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
f990d99790
fixed bug
9 years ago
92abf93c8f
adopted common.h
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
eab0ef4266
EKF: Update default process noise for terrain estimator
9 years ago
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
9 years ago
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
9 years ago
b3b0f1347a
EKF: Make normal GPS mode the default
9 years ago
dca186c6e8
EKF: Add required declarations for optical flow
9 years ago
57d4064d7b
EKF: Increase default heading observation noise
...
Improves robustness when operating in a bad magnetic field environment
9 years ago
f55a0bff53
EKF: Fix code style
9 years ago
f9f00fa52b
Remove unnecessary include.
9 years ago
79d07c831f
Convert spaces to tabs to match upstream.
9 years ago
6c96f45f08
Remove whitespace differences with upstream for pull request.
9 years ago
a711632017
EKF: Add method to fuse horizontal magnetometer data
...
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
9 years ago
72243c4a84
Resolve tab/space differences with upstream master.
9 years ago
Paul Riseborough
devbharat
Carl Olsson
Roman Bapst
Lorenz Meier
mcsauder