dba462b9f3
EKF: Improve efficiency of optical flow fusion auto generated code fragments
9 years ago
3f81eb7d1b
EKF: fix formatting
9 years ago
9bfc11b660
EKF: Use specific position observation noise when flying without GPS
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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
9 years ago
7de1d39ce4
EKF: Improve use of position and velocity observation noise parameters
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Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
9 years ago
2b1e8fe910
EKF: Update tuning parameters
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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
9 years ago
b21a49b3f9
EKF: Use standard C++ initializers
9 years ago
b749a7557b
fixed typos
9 years ago
d79e12dfa1
EKF: fix code style
9 years ago
8200ef4d17
EKF: allocate and unallocate buffer more robustly
9 years ago
c6249a2825
EKF: change estimator base class name to estimation interface
9 years ago
3cafedd4c1
EKF: start storing samples only when ekf is initialised
9 years ago
b062bd2e38
EKF: move estimator specific variables to estimator core
9 years ago
287f5eb0c2
EKF: move all estimator specific types to common header
9 years ago
b05e2d825c
EKF: move estimator specific initialisations to estimator core
9 years ago
f1b82057c0
EKF: Combine GPS velocity innovation gate parameters
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Separate vertical and horizontal parameters for GPS velocity innovation gates are not required
9 years ago
466a104534
EKF: additional GPS check logic
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Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
9 years ago
a779d45cd0
ekf2: fix bug causing faulty imu data storage
9 years ago
92dc41e885
EKF: fix typo in function declaration
9 years ago
3eea6cdcc5
EKF: use namespace for structure definitions
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will be moved to a separate file in the future
9 years ago
001d621eb1
EKF: move imu data processing code to estimator core
9 years ago
251996d387
ekf: move gps checks to Ekf library from estimator_base
9 years ago
46b0e9654c
Add filter control logic
9 years ago
9236f11c80
EKF: Add position and velocity innovation consistency checks
9 years ago
7713cc8c20
Merge pull request #17 from priseborough/pr-addMagErrHandling
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EKF: Add magnetometer fusion error handling
9 years ago
f4b2c0eecf
Merge pull request #11 from mcharleb/PRIu64-fix
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Fixed printf of uint64_t
9 years ago
802129f384
EKF: Add magnetometer fusion error handling
9 years ago
39eef3a2d7
EKF: Remove use of camel case variable names
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Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
9 years ago
cc50d26601
EKF: Update comments
9 years ago
4526cb9c4f
EKF: remove redundant variable
9 years ago
6326433c47
EKF: Eliminate call to hrt_absolute_time()
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This will make the library more portable
9 years ago
94a6644684
Add comprehensive user selectable GPS checks
9 years ago
8d0022ab1e
enable estimator state and innovations data logging
9 years ago
86df68e404
added interface for parameters
9 years ago
9b7afa2600
Merge pull request #12 from nickolasrossi/master
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fix buffer overflow in constrain of wind velocity
9 years ago
dfbbd36ff7
fix buffer overflow in constrain of wind velocity
9 years ago
79bf35c4b3
Fixed printf of uint64_t
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Must use PRIu64 to prevent compiler errors.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
2c80614e20
Merge pull request #10 from PX4/delta_ang_bias_fix
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fix delta angle bias usage:
9 years ago
0b5c90574c
fix delta angle bias usage:
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the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
9 years ago
749156d4aa
Merge pull request #7 from PX4/ekf2_fixes
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Ekf2 fixes
9 years ago
2af5856361
initialise output height with baro
9 years ago
a41f75ffb1
use full mag fusion
9 years ago
f8354bb5e9
- do not fake vertical gps measurement as we have baro
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- formatting
Conflicts:
EKF/ekf.cpp
9 years ago
2a88fc6cfd
initialise vertical position correctly
9 years ago
5aa5f7f8c3
use correct timestamp for measurements
9 years ago
b542e2b49b
Merge pull request #6 from mcharleb/hexagon_support
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Added hexagon support
9 years ago
b8837b4dc6
Added hexagon support
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std::to_string is not supported in the Hexagon complier
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
9 years ago
b457709bd9
Merge pull request #4 from PX4/paul-wip
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EKF: Fix 'Dizzy on Startup' behaviour
9 years ago
edfb7aefcc
EKF: Fix initial alignment errors
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Use the gravity vector to estimate the initial roll and pitch angle
Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading
9 years ago
52cb9d02c7
EKF: Initialize all local structs and variables
9 years ago
7537c966f9
Merge pull request #3 from PX4/paul-wip
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Enable use of POSCTL mode with EKF2
9 years ago
Paul Riseborough
Lorenz Meier
Roman
bugobliterator
Paul Riseborough
Lorenz Meier
nickolasrossi
Mark Charlebois