9f3b1351f7
EKF: Don't initialise velocity to GPS on initial alignment
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For initial alignment the velocity and position should start at zero
9 years ago
687fcc70be
EKF: Explicitly define type conversion for GPS height
9 years ago
e334a5dc57
EKF: Add check for NaN's on attitude states
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
63b0cf4360
EKF: Fix baro height offset bug
9 years ago
4bd79c9e5d
Merge pull request #76 from PX4/pr-fixRngHgtMode
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EKF: Fix bugs preventing use of range finder as primary height source
Flight testing completed and I have checked that the other pending PR #75 rebases cleanly on it.
9 years ago
49023f3d7e
EKF: fix travis build error
9 years ago
7677a162aa
EKF: Don't start the output observer before the main filter has initialised
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This prevents the possibility of output transients if alignment is delayed.
9 years ago
d2407c3463
EKF: code style updates
9 years ago
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
9 years ago
370f643f42
EKF: Enable use of range finder for primary height source
9 years ago
699ec17cc3
Removed spurious print in wheel controller
9 years ago
2882c53246
Merge pull request #74 from PX4/pr-optflow-reworked
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Add fusion of optical flow LOS rate measurements
9 years ago
109e0e6dfc
EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow
9 years ago
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
9 years ago
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
9 years ago
48f980b054
EKF: Fix syntax causing posix build to fail
9 years ago
eab0ef4266
EKF: Update default process noise for terrain estimator
9 years ago
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
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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
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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
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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
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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
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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
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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
Paul Riseborough
Paul Riseborough
Lorenz Meier
mcsauder
Daniel Agar
Roman Bapst