2750961be6
c++11 initialization cleanup ( #237 )
8 years ago
453bde73f8
ECL: Simplify / correct estimator interface
8 years ago
d668a2d798
clang-tidy performance-unnecessary-value-param
8 years ago
934890c2df
EKF: Add validity flag to ekf origin reporting
...
Flag is false until the origin has been initialised
8 years ago
5ad329b641
EKF: Fix variable names to match convention
8 years ago
d5b398ddb1
EKF: Minimise data buffer lengths
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Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
8 years ago
12aeaafbd3
adopted estimator_interface.h
8 years ago
b10b0184c5
EKF: Add IMU vibration calculation and reporting
...
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
8 years ago
352750e5d1
EKF: publish ekf solution status summary data
8 years ago
744b79c1b2
EKF: Publish innovation test ratios
8 years ago
65762e5998
EKF: publish output predictor tracking errors
8 years ago
168d9add76
added getter function for wind states
9 years ago
bec1a6831e
added method to get gyro bias
...
Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
670c6ca019
change state reset information interface for more convenient handling
...
on firmware side
9 years ago
6a55d908c5
EKF: replace reset event times with event counters
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Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
9 years ago
70f76e1a6c
EKF: publish innovation consistency check fail status
9 years ago
e371a303a9
EKF: publish the quaternion reset event
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
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
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
106482b078
EKF: add structure to capture innovation test failures and state resets
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
0fafc49a49
fixed typos ( #147 )
9 years ago
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
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
481c624975
EKF: Remove use of vehicle arm status
...
Use single externally set in-air status for all decisions
9 years ago
ee7d7aeb8a
fixed_airspeed_healthy_bug
9 years ago
c66ed7b662
EKF: Add interface method for filter fault status
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
10bf05e9a6
EKF: publish the vertical position offset
9 years ago
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
31bf342fc1
EKF: publish GPS check status
9 years ago
6fa13c7806
EKF: publish control mode status
9 years ago
60abf07bee
added function to return accelerometer bias
9 years ago
f32303de69
added function to return accelerometer bias
9 years ago
e10093854a
EKF: correct outputs for IMU offset
9 years ago
81fc086b76
adopted ekf_interface.h
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
dca186c6e8
EKF: Add required declarations for optical flow
9 years ago
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
9 years ago
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
9 years ago
a30830a7a9
EKF: Scale position observation noise with GPS quality
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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
9 years ago
6c96f45f08
Remove whitespace differences with upstream for pull request.
9 years ago
72243c4a84
Resolve tab/space differences with upstream master.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
Daniel Agar
Lorenz Meier
Paul Riseborough
CarlOlsson
Youssef Demitri
Roman Bapst
waltjohnson
mcsauder