8125717bf5
EKF: remove un-used airspeed health class variable
...
Airspeed rejection now is captured in _sensor_fault_status
9 years ago
cf489f4248
EKF: capture airspeed innovation test failures
9 years ago
5217b73df1
added bad_airspeed reporting ( #123 )
9 years ago
ee7d7aeb8a
fixed_airspeed_healthy_bug
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
7f5669fb2d
EKF: consolidate covariance corrections
...
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
9 years ago
1126048a93
EKF: Improve protection against bad airspeed fusion
9 years ago
82da832816
EKF: tidy up Kalman gain calculations
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Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
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
22d18d638c
enable Wshadow
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
8678a939e2
removed reinitialization of intermediate variables
9 years ago
eee6f1048f
Changed vtaspred threshold
9 years ago
3ad5b52aea
removed comment
9 years ago
616725410d
updated calculation
9 years ago
ec9902d802
added fault status reporting
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
0fb1e0578b
added function for fusing airspeed
9 years ago
Paul Riseborough
Carl Olsson
Daniel Agar
Roman Bapst