7d6226eb45
EKF: Improve efficiency of yaw angle fusion
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Use direct calculation of Kaman gains with optimised algebra
9 years ago
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
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The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
9 years ago
2b2c490382
Validator: Add function for 1D use of the 3D validator
9 years ago
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
9 years ago
678d6f45cc
Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix
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EKF: fix time of sample receive setting
9 years ago
2096e24c06
EKF: fix time of sample receive setting
9 years ago
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
9 years ago
abf9476853
EKF: miscellaneous formatting and typo updates
9 years ago
ffe1d30864
EKF: Set covariances to zero for un-used states
9 years ago
294aca8609
EKF: Improve variance limiting for stationary states
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Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
9 years ago
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
9 years ago
69b8982043
EKF: Initialise variances to zero for un-used states
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Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
9 years ago
d9bf4e9870
EKF: Enable control mode transitions to be detected
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Save the previous value of the filter control modes
9 years ago
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
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This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
9 years ago
d8afca5e7a
EKF derivations: Correct error in direct yaw and declination angle fusion
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The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
9 years ago
7da40a45a4
EKF: Add control mode for wind state estimation
9 years ago
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
9 years ago
dba58aa4c6
EKF: Add control logic for fusion modes
9 years ago
22c177c951
EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode
9 years ago
c089079321
EKF: Split tilt and yaw align
9 years ago
020cc5978e
EKF: Move calculation of declination into a separate function
9 years ago
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
9 years ago
2bbe7f9a1c
EKF: Update magnetometer fusion to use declination from the specified source
9 years ago
83945581ed
EKF: Add function to calculate the magnetic declination to use
9 years ago
9017e077f8
EKF: Publish the magnetic declination we wish to save for next startup
9 years ago
0308f2f796
EKF: Add parameters to control declination source and fusion type
9 years ago
6140d4b21f
EKF: Add function to reset yaw and magnetic field states
9 years ago
ad978c642f
estimator interface:
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added flag for in_air status of vehicle
9 years ago
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
9d7340e187
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
9 years ago
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
9 years ago
d21ce70eeb
Merge pull request #45 from CarlOlsson/move_fuse_function_to_helper
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moved fuse function to ekf_helper.cpp
9 years ago
1e766c7510
moved fuse function to ekf_helper.cpp
9 years ago
0a9f7e58db
Merge pull request #43 from PX4/pr-baroHeightOffset
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Correct for sensor noise and baro offset during alignment
9 years ago
fff2bd50f6
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
9 years ago
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
Paul Riseborough
Lorenz Meier
Paul Riseborough
Roman Bapst
bugobliterator
CarlOlsson
Lorenz Meier