627d08ecc9
Revert "EKF: Fix bug in output observer"
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This reverts commit 03f3df7415
9 years ago
03f3df7415
EKF: Fix bug in output observer
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Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
9 years ago
5217b73df1
added bad_airspeed reporting ( #123 )
9 years ago
b126921894
changed airspeed innovation gate to 5 ( #119 )
9 years ago
b8ccc58887
cmake: ignore more eigen warnings
9 years ago
b74114a573
cmake: ignore deprecated warnings of Eigen
9 years ago
07ecffc963
cmake: another try to get the module path right
9 years ago
001433c660
cmake: debug output for path
9 years ago
d242bb78b9
cmake: try to provide path to FindEigen3
9 years ago
dcd191d734
cmake: include FindEIgen3.cmake for older cmake
9 years ago
3d28f7ecca
CMakeLists: use find_package Eigen3
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Instead of hardcoding the Eigen3 path which only works on Mac, use
find_package(Eigen3).
9 years ago
1a24ec5f50
EKF: remove unused flag from control status message
9 years ago
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
9 years ago
ee7d7aeb8a
fixed_airspeed_healthy_bug
9 years ago
175723f690
EKF: Allow for larger accel bias offsets on startup
9 years ago
161ac2e051
EKF: ensure position co-variances are reset
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When transitioning into optical flow nav from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
9 years ago
feb4db6347
EKF: protect against large IMU errors during initial tilt alignment
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Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
9 years ago
00973d6215
EKF: fix pos/vel fusion innovation variance bug
9 years ago
2144a40a3c
EKF: redefine accelerometer bias state inhibit switch bit location
9 years ago
724280fd1f
EKF: move calculation of optical flow observation variance into a function
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Allows it to be used when calculating initial state variance
9 years ago
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
9 years ago
c66ed7b662
EKF: Add interface method for filter fault status
9 years ago
020b87933e
EKF: replace fault status struct with a union to facilitate logging
9 years ago
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
9 years ago
0c6a367e1b
EKF: fix Travis build error
9 years ago
22f0f52bf1
EKF: fix travis build error
9 years ago
9e53ff2f80
EKF: Improve protection against bad optical flow fusion
9 years ago
1126048a93
EKF: Improve protection against bad airspeed fusion
9 years ago
c8d95586e7
EKF: Improve protection against bad magnetometer fusion
9 years ago
310bd97080
EKF: Improve protection against bad pos vel fusion
9 years ago
da9d894441
EKF: Improvements to covariance reset
9 years ago
d9aeace6ac
EKF: tuning update
9 years ago
f1b7e7714e
EKF: Make average update rate of EKF closer to target
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With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
9 years ago
1daa6c7866
EKF: update tuning defaults
9 years ago
fc6c0c7ebf
EKF: Update covariance prediction
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Refresh auto generated code
Make 3-axis accel fusion the default and no accel fusion the option
9 years ago
ecaffe63af
EKF: update tuning defaults
9 years ago
7a74d58591
EKF: reduce initial accel bias uncertainty
9 years ago
a7d08d08fc
EKF: Relax tilt alignment check
9 years ago
5523a4f225
EKF: Fix IMU bias compensation scale error in output filter
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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
9 years ago
fd109b00ab
EKF: replace in-line code with existing function
9 years ago
727a43764f
EKF: update initial angle alignment check
9 years ago
bc34b14779
EKF: Initialise height state variance to a value compatible with the measurement
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A large height state variance and small measurement variance can destabilise the filter in the first few seconds after alignment
9 years ago
29a361d3a3
EKF: Use intuitive units for gyro and accel bias process noise
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This also makes the tuning less sensitive to changes in the EKF update rate.
9 years ago
799865c934
EKF: update default tuning parameters
9 years ago
f01f4ae4b1
EKF: tidy up mag declination fusion
9 years ago
0d31aad33a
EKF: Fix bad limit on magnetometer noise parameter
9 years ago
7069fb7a04
EKF: refresh auto code for mag fusion
9 years ago
ffea65e1a4
EKF: fix bug in state prediction
9 years ago
63f093a10a
EKF: Update upper limits for state variances
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This limiting is a last resort measure and the limiting for normal operation should be achieved by modification in the covariance prediction
9 years ago
26a51c667d
EKF: Improve robustness to initial gyro bias errors
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Allows for ~6 deg/sec of startup bias
9 years ago
Paul Riseborough
Carl Olsson
Julian Oes