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
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Improves robustness when operating in a bad magnetic field environment
9 years ago
97df006a6a
EKF: Update direct heading fusion
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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
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Adds an alternative using a 312 Euler sequence.
9 years ago
2c9a814de1
Merge pull request #64 from mcsauder/master
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Additional filter variable initializations required to fully reset the filter variables
9 years ago
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
9 years ago
f058fc817f
Merge pull request #63 from PX4/att_reset
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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
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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
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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
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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
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
9 years ago
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
9 years ago
e938475acc
Merge pull request #59 from PX4/pr-ImprovedStartup
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Improvements to EKF startup - partially replaces PR#57
9 years ago
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
9 years ago
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
9 years ago
016695fc3e
EKF: Reduce startup transients
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Update initial state variance values
9 years ago
9c7a3f366c
Merge pull request #54 from mcsauder/master
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Address C99 compatibility issues by relocating variable initialization. - Replaces PR#50
9 years ago
6613335937
Added constexpr back from const var type.
9 years ago
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
9 years ago
48e80e9e3e
Correct C style array initialization.
9 years ago
f9f00fa52b
Remove unnecessary include.
9 years ago
ccb5736353
Spaces to tab.
9 years ago
a4cecb1704
Match variable initialization order difference with upstream.
9 years ago
79d07c831f
Convert spaces to tabs to match upstream.
9 years ago
6c96f45f08
Remove whitespace differences with upstream for pull request.
9 years ago
fad1c87631
Merge upstream and resolve merge conflicts.
9 years ago
237ecfef1a
Add travis build check badge
9 years ago
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
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Shared Library build
9 years ago
35865048a2
Merge pull request #55 from PX4/pr-FixYawFusionBug
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Fix bug in heading fusion and add new method for ground/indoor use
9 years ago
70a3b91217
EKF: Update magnetometer fusion derivations
9 years ago
a711632017
EKF: Add method to fuse horizontal magnetometer data
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This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
9 years ago
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
9 years ago
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
9 years ago
90e1bd3e36
EKF: wrap compass yaw estimate
9 years ago
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
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Use direct calculation of Kaman gains with optimised algebra
9 years ago
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
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The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
9 years ago
72243c4a84
Resolve tab/space differences with upstream master.
9 years ago
437f6ca5fb
Moved initialization to object constructors to allow C99 compiler compatibility.
9 years ago
2b2c490382
Validator: Add function for 1D use of the 3D validator
9 years ago
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
9 years ago
80632cc12c
EKF: add comments and licensing information to builder files
9 years ago
e65c348905
EKF: add travis build
9 years ago
Paul Riseborough
Paul Riseborough
mcsauder
Roman Bapst
Lorenz Meier
Siddharth Bharat Purohit