03c35266ef
EKF: remove unused parameter
9 years ago
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
9 years ago
e3365525c2
EKF: rework height reset logic
9 years ago
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
9 years ago
3455931617
EKF init: Fix initialization statement
9 years ago
ea38aa130f
EKF: update default time delay parameter values
9 years ago
b46053415f
EKF: Compensate optical flow data for sensor position offset
9 years ago
3580940e10
EKF: Add sensor position offset parameters
9 years ago
470098e182
EKF: update default tuning parameters
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Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
9 years ago
1ea26b406a
change name to true_airspeed
9 years ago
f990d99790
fixed bug
9 years ago
92abf93c8f
adopted common.h
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
eab0ef4266
EKF: Update default process noise for terrain estimator
9 years ago
962fd0aaf2
EKF: Adjust terrain process noise for gradient effect
9 years ago
5acd1cbac4
EKF: Make definitions of parameters clearer for external use
9 years ago
b3b0f1347a
EKF: Make normal GPS mode the default
9 years ago
dca186c6e8
EKF: Add required declarations for optical flow
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
f55a0bff53
EKF: Fix code style
9 years ago
f9f00fa52b
Remove unnecessary include.
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
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
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
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
9 years ago
7da40a45a4
EKF: Add control mode for wind state estimation
9 years ago
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
9 years ago
0308f2f796
EKF: Add parameters to control declination source and fusion type
9 years ago
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
9 years ago
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
9 years ago
6aeccf01ff
EKF: Add missing fusion health status messages
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
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
d79e12dfa1
EKF: fix code style
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
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
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
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
Paul Riseborough
Roman Bapst
Lorenz Meier
CarlOlsson
mcsauder
Roman
bugobliterator