16a00eae0b
Make Kfusion a Vector24f
5 years ago
356b2f6ffe
Stop setting zero to zero
5 years ago
552bf824ea
Add typedef for Matrix 24 types
5 years ago
c3653e68ca
Add const modifier
5 years ago
48f0eb16da
Remove uninformative comments
5 years ago
4a69b41015
Increase matrix library usage even more
5 years ago
b8f937666a
Make mag_innov/-var a Matrix::Vector3f
5 years ago
4b746a3fca
GPS Yaw: add consts and remove fusion starting message
...
The fusion status is captured in the status flags; the message is
superfluous, uses flash space and can impact real-time performance
5 years ago
fe2a9d3018
GPS Yaw: move isfinite checks in control.cpp
5 years ago
3c6790f5d5
GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
...
Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
5 years ago
600240d95f
EKF: resetGpsAntYaw() fix double promotion
5 years ago
21f49c22dc
Use resetQuatStateYaw during gps yaw reset
5 years ago
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
5 years ago
edc8a88c24
yaw_fusion: remove useless initialization
5 years ago
81c6d6655f
ekf: clean uncorrelateQuatStates function
...
As the name can be ambiguous, it gets renamed
"uncorrelateQuatFromOtherStates".
Also replace the loops storing the values and reapplying them by simply
zeroing two slices (this also saves 130B of flash).
5 years ago
4b0e7b2cff
Remove filtering on external vision alignment
5 years ago
3daf25763e
Remove unnecessary comments
5 years ago
48787c0160
Improve Matrix library usage
5 years ago
9e6d27fafb
Add missing const qualifier
5 years ago
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
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This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
5 years ago
92ba618f57
Improve on flash memory usage
5 years ago
459b76f9fd
Make covariance matrices of type matrix::SquareMatrix
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and use functions from Matrix to reset covariances.
5 years ago
1bf09fd370
Remove EKF prefix from logged messages
5 years ago
36de2b3dc1
EKF: Use matrix library for quaternion to rotation matrix conversion
5 years ago
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
...
which is helpful for EKF replay debugging.
5 years ago
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
6 years ago
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
ef5a87c1d4
EKF: Rework quaternion yaw reset.
...
Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
6 years ago
0220f469b0
EKF: Use more generic variable name for bad yaw fusion flag
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This flag now reports on fusion of data that is not from a magnetometer.
7 years ago
eb52f7c410
EKF: Remove implicit conversion and use single precision trig operator
...
Double precision accuracy is not required for this operation.
7 years ago
d1f3f4c916
EKF: Use #define function for isfinite check
7 years ago
91f886cb5e
EKF: Add support for use of GPS heading data.
...
Heading data is assumed to be from a dual antenna array at a specified yaw angle offset in body frame, but with the heading data already corrected for antenna offset. The offset is required to apply the correct compensation for combined rotations and to determine when the yaw observation has become badly conditioned.
7 years ago
kamilritz
bresch
Daniel Agar
Paul Riseborough
Carl Olsson