* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
* ekf_control: Inhibit mag fusion when field magnitude is large
Move mag inhibition check in separate function
* ekf_control: pull out of functionalities out of controlMagFusion
- yaw abd mag bias observability checks
- mag 3D conditions
- load mag covariances
- set and clear mag control modes
* ekf_control: refactor mag heading/3D start/stop.
Move mag declination, mag 3d and mag heading fusion out of the main function
* ekf_control: extract mag yaw reset and mag declination fusion requirements
* ekf_control: use WMM in isStronMagneticField for mag fusion inhibition
- Correct units of WMM strength table
* ekf_control: extract mag_state_only functionality of AUTOFW (VTOL custom)
Also split inAirYawReset from onGroundYawReset
* ekf_control: extract mag automatic selection
- transform if-else into switch-case for parameter fusion type selection
* ekf_control: extract run3DMagAndDeclFusion, reorganize functions, fix
flag naming in Test script
* ekf_control: do not run mag fusion if tilt is not aligned.
Reset some variables on ground even if mag fusion is not running yet. It
could be that it runs later so we need to make sure that those variables
are properly set.
* ekf_control: move controlMagFusion and related functions to mag_control.cpp
* ekf control: check for validity of mag strength from WMM and falls back
to average earth mag field with larger gate if not valid
* ekf control: remove evyaw check for mag inhibition
* ekf control: change nested ternary operator into if-else if
* Ekf: create AlphaFilter template class for simple low-pass filtering
0.1/0.9 type low-pass filters are commonly used to smooth data, this
class is meant to abstract the computation of this filter
* ekf control: reset heading using mag_lpf data to avoid resetting on an outlier
fixes ecl issue #525
* ekf control: replace mag_states_only flag with mag_field_disturbed and
add parameter to enable or disable mag field strength check
* ekf control: remove AUTOFW mag fusion type as not needed This was implemented for VTOL but did not solve the problem and should not be used anymore
* ekf control: use start/stop mag functions everywhere instead of setting the flag
* ekf control: Run mag fusion depending on yaw_align instead of tilt_align
as there is no reason to fuse mag when the ekf isn't aligned
* AlphaFilter: add test for float and Vector3f
- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
kamilritz
Daniel Agar
Mathieu Bresciani
RomanBapst
Paul Riseborough
Andreas Antener
Jan Brehmer
Nico van Duijn