bresch
a6840655e8
ekf: Extract resetState from main reset and reinitialize
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the covariances in the init function
5 years ago
bresch
bf48004fb9
ekf: move "reset" part of the init function into a separate function
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add getter for the vehicle at rest flag
5 years ago
kamilritz
d79199c863
Remove swig and python test related things
5 years ago
kamilritz
71be26efc6
Port RingBuffer Test to GTests
5 years ago
kamilritz
cac5f3fd6d
GTest and Coverage cleanup and Basic EKF GTest
5 years ago
Martina Rivizzigno
fcea13eef8
add gtest, temp disable swig
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(cherry picked from commit 4008d163d77f503e6acbd7ddc1d87ac6d479c897)
5 years ago
RomanBapst
9b4b24ee71
removed unused definition
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
RomanBapst
0e3a0b8659
range_finder_checks: parametrised signal quality hysteresis duration
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
RomanBapst
16d1e15b51
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
RomanBapst
6bc6f26043
range_finder_checks: set range height to valid if signal quality is non-zero
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
RomanBapst
6299d8199c
ekf_helper: use latest validated range sample to reset height
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
RomanBapst
00f49e62c2
cleanup checks of range finder data
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
Paul Riseborough
4d37065f1b
EKF: Make use of inverse rotation function consistent with name
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The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
5 years ago
Paul Riseborough
36de2b3dc1
EKF: Use matrix library for quaternion to rotation matrix conversion
5 years ago
bresch
29f71fff96
ekf: Add override specifier for all functions that override virtual functions of the estimator interface class
5 years ago
bresch
50167bfbcf
estimator interface: add deprecated functions for backward compatibility
5 years ago
bresch
b38458c2ab
Terrain estimator: formatting and remove redundant comments
5 years ago
bresch
0aef0eda59
terrain_estimator: remove dead code. Since the terrain estimator is
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constantly reset on ground, it is not necessary anymore to fuse fake
measurements on ground if the range measurements are bad.
5 years ago
bresch
370e04ee60
terrain_est: Continuously reset terrain height on ground using known
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clearance. This is the best estimate as we should not rely on a distance
sensor while on the ground. This also helps when the drone is carried
over as it avoids starting with a crazy downward distance for optical
flow scaling.
5 years ago
bresch
e09e3e17a1
control: rename _range_aid_enabled to _is_range_aid_suitable
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rename rangeAidConditionsMet to checkRangeAidSuitability
5 years ago
bresch
fac69d07a3
control: refactor rangeAidConditionsMet function
5 years ago
Paul Riseborough
eae6e8f19c
EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4
5 years ago
RomanBapst
4e946d5bcb
implemented synthesized magnetometer Z measurement
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- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
5 years ago
kamilritz
f005e0ea8f
Remove deprecated ev_innov_gate param
5 years ago
kritz
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
5 years ago
kritz
bb88d4ce5e
Undo wrong comment change
5 years ago
Kamil Ritz
562731936a
Update quaternion direction in documentation pdf
5 years ago
kamilritz
8c061fb6a4
Fixing wrong label of quaternion direction
5 years ago
Jannik Beyerstedt
fe3fec413c
fix #595 and add new all-in-one conversion script (PX4 only)
5 years ago
kamilritz
83eb326076
Missing posNED
5 years ago
kamilritz
fd6b364c11
posNED to pos and velNED to vel and add ev vel covariances to reset
5 years ago
kamilritz
4f6ca3a74c
Replace rest of spaces with tabs
5 years ago
kamilritz
cea053820d
Remove spaces with tabs
5 years ago
kamilritz
1e57c4bbec
Fix white space
5 years ago
kamilritz
10cbd79db7
Rotate external vision info in reset function if necessary
5 years ago
kamilritz
4511b9ff5e
Add missing checks for flags.ev_vel
5 years ago
kamilritz
e7d927c899
Stop using bad GPS when we have vision velocity
5 years ago
kamilritz
bd8f05567a
set vel_pos_test_ratio to zero if no fusion happens
5 years ago
kamilritz
4b30de587f
Make vel_pos innov gate variable name clearer
5 years ago
kamilritz
4237d7ccd7
Improve external vision position fusion
5 years ago
kamilritz
3e8139ff9f
Enable vision velocity fusion
5 years ago
kamilritz
149233a9ab
Add velocity observations to external vision interface
5 years ago
Matthias Grob
62a1e07512
ecl_EKF: Do not include SquareMatrix from Matrix library
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because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
6 years ago
Julian Kent
4c4c1f2984
Use copyTo for writing to memory blocks
6 years ago
Julian Kent
8cc8db211c
Fix copy_quaternion reference in code generation
6 years ago
Julian Kent
8d60f8ba8f
Remove direct unsafe access to matrix internal data
6 years ago
Nico van Duijn
c446ee444a
EKF: fake rng if faulty on ground
6 years ago
Andreas Antener
4f19d457c4
ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active
6 years ago
Jan Brehmer
93eb1266f6
EKF: reset position when stopping GPS use and EV is active
6 years ago
Nico van Duijn
267195a11b
EKF: remove check for faulty flag in fake rng
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This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
6 years ago