644e903552
Apply measurementUpdate function
5 years ago
fd849e0578
EKF: Fix specific force observation noise variance
...
Also add protection for out of range value.
5 years ago
76f393dcb0
EKF: Use const reference instead of local copy
5 years ago
c43307b8cf
EKF: convert drag fusion from Matlab to SymPy generated auto-code
5 years ago
7609bc69b2
drag innov member variables to Vector2f
5 years ago
89bfcc2167
Introduce checkAndFixCovarianceUpdate(KHP) function
5 years ago
5c4a3d4576
Make observation jacobian a Vector24f when possible
5 years ago
4cb2d1c645
Remove duplicated code snippets
...
by combining x and y ballistic coeff inverse a vector
5 years ago
d18ddb3e92
Use ternary operator
5 years ago
16a00eae0b
Make Kfusion a Vector24f
5 years ago
552bf824ea
Add typedef for Matrix 24 types
5 years ago
48f0eb16da
Remove uninformative comments
5 years ago
4a69b41015
Increase matrix library usage even more
5 years ago
a3706fdcef
Make relative wind computation more compact
5 years ago
ff8b5ec69d
Extract general functions into utils
5 years ago
cec6d76577
Raise awareness for drag variance(!=stdDev) bug
5 years ago
9e6d27fafb
Add missing const qualifier
5 years ago
0d0f46ec1c
EKF: Don't run unnecessary makeRowColSymmetric operation
...
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
...
and use functions from Matrix to reset covariances.
5 years ago
07e804676c
Rename IMU biases
5 years ago
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
...
The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
5 years ago
f0889c1760
EKF: fixed some comment typos
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
c5b2f59f57
PX4 style fixes (excluding EKF generated code)
7 years ago
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
7 years ago
99ba1c3745
EKF trivial code style cleanup
8 years ago
f3909244f0
EKF: Correct units in comments
8 years ago
c44488fdb8
EKF matrix typedef cleanup
8 years ago
1e393530ed
EKF: Fix travis clang build error
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
5cf31e439d
EKF: Add specific drag fusion tuning parameters
8 years ago
465b145929
EKF: Add multi-rotor drag model for wind estimation
8 years ago
kamilritz
Paul Riseborough
Paul Riseborough
Carl Olsson
Daniel Agar