573f252b73
EKF: fix bug preventing GPS use as a backup height source
9 years ago
5f9752cac8
EKF: Improve function names
9 years ago
7bc9217f00
EKF: Clean up control of observation fusion
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All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
9 years ago
9a95898414
gps_message: remove time_usec_vel from struct (unused)
9 years ago
1b394460a3
fix comment about filter bias states
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Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
bec1a6831e
added method to get gyro bias
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Signed-off-by: Roman Bapst <roman@px4.io>
9 years ago
703fb4e31b
do not return early in velocity reset method otherwise
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some code will not be executed
9 years ago
f26aca55a1
EKF: Fix bug in quaternion covariance initialisation function
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The covariances between quaternion and non-quaternion states were not being updated
9 years ago
b3baab64f2
EKF: Updates to 3-axis mag fusion auto-code
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The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
9 years ago
21168f9929
EKF: fix bug in 3-axis mag fusion innovation test
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The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
9 years ago
99b34f0df4
EKF: Only reset necessary terms when mag fusion covariance reset required
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Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
9 years ago
381d99aed6
EKF: Inform console of serious fusion numerical errors
9 years ago
dbfe8c0242
EKF: remove approximation in mag fusion innovation variance calculation
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The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
9 years ago
79228352e9
EKF: Reset mag and wind state variances to 'reasonable' values
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If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery
9 years ago
34ffffa021
EKF: Prevent use of non time-stamped invalid data during initialisation
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Fixes bad height initialisation seen intermittently with snapdragon
9 years ago
eded0a8f7e
activate tas fusion, off by default
9 years ago
081e17729c
EKF: delay commencement of 3D mag fusion until clear of ground
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Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
9 years ago
670c6ca019
change state reset information interface for more convenient handling
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on firmware side
9 years ago
f08aee0a7d
EKF: Fix covariance index bug
9 years ago
b8e2f79005
EKF: correct include paths
9 years ago
ecfd8c867a
EKF: use ECL printfs everywhere
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- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
9 years ago
6a55d908c5
EKF: replace reset event times with event counters
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Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
9 years ago
70f76e1a6c
EKF: publish innovation consistency check fail status
9 years ago
e371a303a9
EKF: publish the quaternion reset event
9 years ago
81ca167da8
EKF: align output observer to EKF states on startup
9 years ago
3ec9221c18
EKF: update output observer and capture reset event for EV yaw resets
9 years ago
9ec09f5f4e
EKF: update output observer and capture reset event for magnetic heading resets
9 years ago
2b0d5c28f0
EKF: capture full quaternion change for reset events
9 years ago
b2e432e211
EKF: publish position and velocity reset data
9 years ago
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
9 years ago
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
9 years ago
0605c88ecc
EKF: capture horizontal position reset events
9 years ago
e3a1b4a3b3
EKF: capture velocity reset events
9 years ago
4237269fab
EKF: add struct to capture state reset events
9 years ago
65da9173b9
EKF: capture innovation checks and reset events in separate variables
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rename the innovation check status class variable and remove the reset flags from it.
9 years ago
79705da7e6
EKF: make output predictor states consistent with position reset
9 years ago
54d90261d5
EKF: make output predictor states consistent with velocity reset
9 years ago
52229da089
EKF: capture optical flow innovation test failures
9 years ago
d80e71a499
EKF: capture HAGL innovation test failures
9 years ago
8125717bf5
EKF: remove un-used airspeed health class variable
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Airspeed rejection now is captured in _sensor_fault_status
9 years ago
388e500180
EKF: remove un-used magnetometer health class variable
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replaced by _sensor_health_status
9 years ago
cf489f4248
EKF: capture airspeed innovation test failures
9 years ago
e7690bd8f8
EKF: capture magnetometer innovation test failures
9 years ago
3fb449295e
EKF: capture yaw innovation test failures
9 years ago
52f6eea52b
EKF: capture position and velocity innovation test failures
9 years ago
aea827aa8a
EKF: ensure filter fault status is initialised
9 years ago
106482b078
EKF: add structure to capture innovation test failures and state resets
9 years ago
70c40d695d
EKF: Initialise alignment noise filters using valid data
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Don't initialise the states for the alignment data noise filters until the buffers have been flushed
9 years ago
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
9 years ago
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
9 years ago
Paul Riseborough
Beat Küng
Roman Bapst
Roman
CarlOlsson
Julian Oes