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
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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
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
9 years ago
9017e077f8
EKF: Publish the magnetic declination we wish to save for next startup
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
3f81eb7d1b
EKF: fix formatting
9 years ago
7de1d39ce4
EKF: Improve use of position and velocity observation noise parameters
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Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
9 years ago
d79e12dfa1
EKF: fix code style
9 years ago
8200ef4d17
EKF: allocate and unallocate buffer more robustly
9 years ago
c6249a2825
EKF: change estimator base class name to estimation interface
9 years ago
b062bd2e38
EKF: move estimator specific variables to estimator core
9 years ago
287f5eb0c2
EKF: move all estimator specific types to common header
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
f1b82057c0
EKF: Combine GPS velocity innovation gate parameters
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Separate vertical and horizontal parameters for GPS velocity innovation gates are not required
9 years ago
466a104534
EKF: additional GPS check logic
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Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
9 years ago
92dc41e885
EKF: fix typo in function declaration
9 years ago
3eea6cdcc5
EKF: use namespace for structure definitions
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will be moved to a separate file in the future
9 years ago
251996d387
ekf: move gps checks to Ekf library from estimator_base
9 years ago
Paul Riseborough
Carl Olsson
waltjohnson
Roman Bapst
mcsauder
bugobliterator
Roman