3c84d37175
Merge pull request #156 from PX4/fix_printfs
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EKF: use ECL printfs everywhere
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
ab0ac05b47
ecl.h: guard PX4 defines with ifdef
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
8bfdb0430c
Merge pull request #150 from PX4/pr-ekf2StatusReporting
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EKF: Publish full reset and innovation consistency check status data
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
654093cae1
Merge pull request #155 from PX4/pr-ekf2AlignmentNoiseFilterInit
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EKF: Initialise alignment noise filters using valid data
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
35bb6cc6e9
Merge pull request #154 from PX4/pr-ekf2AlignmentBufferFlush
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EKF: Ensure bad initial data is flushed from buffers before use
9 years ago
c905684c12
EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment
9 years ago
9557f64248
Merge pull request #153 from PX4/pr-ekf2ExternalVision
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EKF: external vision bug fixes
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
98c0b74a71
EKF: Initialise height correctly when using external vision data
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If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
9 years ago
9f81b8f09e
EKF: provide reset protection for external vision height
9 years ago
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
9 years ago
00bada8f25
EKF: Clean up logic for horizontal position fusion
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Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
9 years ago
6f412a73b4
EKF: Use correct height gate when using external vision
9 years ago
e41524ac9d
EKF: remove unused variables
9 years ago
53030b9297
Merge pull request #152 from PX4/pr-ekf2FixObsDataHandling
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EKF: Fix vulnerability to loss of observations due to high input data rates
9 years ago
7dd123094f
EKF: correct documentation
9 years ago
d5b5cb5899
EKF: improvements to observation collection
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Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
9 years ago
e2d9e19a5d
Merge pull request #148 from PX4/pr-ekf2OutputPredictor
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EKF2 provide alternative output velocity prediction
9 years ago
Paul Riseborough
Paul Riseborough
Roman Bapst
Julian Oes