d2407c3463
EKF: code style updates
9 years ago
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
9 years ago
370f643f42
EKF: Enable use of range finder for primary height source
9 years ago
109e0e6dfc
EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
9 years ago
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
9 years ago
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
9 years ago
48f980b054
EKF: Fix syntax causing posix build to fail
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
1a2da887ab
EKF: Fix bug in calculation of terrain estimator Kalman gain
9 years ago
cc5512905a
EKF: prevent optical flow, GPS and baro fusion from blocking each other
9 years ago
ffebaf384f
EKF: Set initial optical flow fusion monitor outputs to zero
9 years ago
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
9 years ago
dd1d58bab5
EKF: Remove unnecessary matrix operations from optical flow fusion
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The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
9 years ago
b3b0f1347a
EKF: Make normal GPS mode the default
9 years ago
d97d308ca7
EKF: Add control of optical flow and range finder fusion
9 years ago
836fe39070
EKF: Update external interface functions to support optical flow
9 years ago
2ff338048d
EKF: Add support for range-finder fusion as primary height reference
9 years ago
2c2850c0ce
EKF: Add functions to get position and velocity state variance
9 years ago
32b03819ef
EKF: Add function to calculate global position validity
9 years ago
270451e17b
EKF: Update height reset to support range finder height use
9 years ago
dca186c6e8
EKF: Add required declarations for optical flow
9 years ago
122dd9c531
EKF: Add source file for optical flow LOS rate fusion
9 years ago
82cbfafb34
EKF: Add source file for terrain vertical position estimator
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Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
9 years ago
6a61f9ba77
Remove a define that might not be required for compilations in other scnearios outside of C99 restrictions to minimize Pull Request modifications.
9 years ago
115c87a0ea
Remove an include that was unnecessary.
9 years ago
1aee1b895a
Uncomment commented lines that removed Eigen namespaces and dependencies.
9 years ago
f9be23933b
Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4.
9 years ago
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
9 years ago
1414d591ce
EKF: Fix bug in declination fusion indexing
9 years ago
b2744f965d
use in_air flag from land detector to determine if we are on the ground
9 years ago
569886a4fc
EKF: Fix bug in velocity and position innovation consistency checks
9 years ago
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
9 years ago
d8627c6aaf
EKF: Reset the vertical position states if height fusion times out
9 years ago
f7a53d69f2
EKF: Improve height reset function
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Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
9 years ago
a6da73fa83
EKF: Add missing div0 protection
9 years ago
d5e47d21db
EKF: miscellaneous comment and format changes
9 years ago
7c83ac4b6d
EKF: Use heading fusion as default for startup and ground operation
9 years ago
57d4064d7b
EKF: Increase default heading observation noise
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Improves robustness when operating in a bad magnetic field environment
9 years ago
97df006a6a
EKF: Update direct heading fusion
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Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
9 years ago
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
9 years ago
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
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
f55a0bff53
EKF: Fix code style
9 years ago
5b5bddebea
EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode
9 years ago
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
9 years ago
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
9 years ago
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
9 years ago
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
9 years ago
Paul Riseborough
mcsauder
Roman Bapst