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
e9ccfdd484
EKF: Update derivation scripts and outputs
...
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
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
...
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
75b22c95ac
EKF: Add new source files to cmake
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
...
Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.
9 years ago
829e0f1e65
Merge pull request #73 from mcsauder/master
...
Conversion error correction and additional function overloads to allow standalone compilation.
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
b163efeae2
Merge pull request #72 from PX4/pr-MagFusionBug
...
Fix bug in declination fusion and standardise covariance update
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
2108466a00
initialize ECL_L1 variables
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
...
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
...
Improves robustness when operating in a bad magnetic field environment
9 years ago
97df006a6a
EKF: Update direct heading fusion
...
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
ea29e39e5b
EKF: Updated derivation of Jacobians for direct heading measurement
...
Adds an alternative using a 312 Euler sequence.
9 years ago
2c9a814de1
Merge pull request #64 from mcsauder/master
...
Additional filter variable initializations required to fully reset the filter variables
9 years ago
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
...
EKF: Improve Position Accuracy Reporting
9 years ago
f058fc817f
Merge pull request #63 from PX4/att_reset
...
Attitude reset after heading reset
9 years ago
5fb48a2e7b
Merge remote-tracking branch 'upstream/master'
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
cd5857e900
Add vibration magnitude estimation
9 years ago
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
...
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
...
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
5483e7a477
Merge pull request #60 from PX4/pr-ReduceMagModeSwitchKick
...
EKF: Fix Bug Causing Roll/pitch Disturbances On Mag Fusion Mode Switch
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
Paul Riseborough
Paul Riseborough
mcsauder
Daniel Agar
Roman Bapst
Lorenz Meier