fed4a9bc5a
EKF: add vertical position derivative output
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Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode.
Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor.
Provide separate accessor for vertical position derivative.
8 years ago
871ebb251b
EKF: Changed get_control_mode to coyp 32 bits
8 years ago
be16406b35
EKF: Add feature to use the mag to only update the mag states
8 years ago
3919d60f66
ekf2 initialization fixes
8 years ago
c607941e2f
EKF: Allow external setting of air density for multi-rotor drag fusion
8 years ago
3758c5a09d
EKF: down-sample drag specific force data
8 years ago
465b145929
EKF: Add multi-rotor drag model for wind estimation
8 years ago
0d7e7e9d81
EKF: Don't use EKF origin in GPS drift check calculation
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The GPS drift calculations need to be able to run independently of the EKF origin.
8 years ago
040639837e
EKF: Use common timeout test for reporting deadreckoning
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Use a parameter to set the time-out threshold
Use a class variable for the time-out flag
Clean up comments
8 years ago
5fb24c3032
EKF: Reduce EKF prediction delta time jitter
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Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic.
Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.
8 years ago
8070691aa4
EKF: Add accessor function for velocity accuracy
8 years ago
d6abf3f2e4
EKF: add accessor function for local position accuracy
8 years ago
b7d0b3c4d0
EKF: Improve naming of WGS-84 accuracy accessor function
8 years ago
d22599b440
EKF: Add reporting of inertial dead-reckoning status
8 years ago
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
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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
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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
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Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
670c6ca019
change state reset information interface for more convenient handling
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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
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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
Paul Riseborough
CarlOlsson
Daniel Agar
Lorenz Meier
Youssef Demitri
Roman Bapst
waltjohnson