3e05fd552e
EKF: Compensate for bad range finder data when on ground
6 years ago
3b32ee4166
Flow aiding - Reset state when flow is enabled only if it is the only
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position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
6 years ago
be368f3656
Update comment
6 years ago
c5abfe626f
remove canonicalize and adapt comments
6 years ago
67512d88ea
Update matrix library for CI
6 years ago
a2ff415fe4
Fix get frame aligning quaternion function
6 years ago
53eac6e94e
Canonicalize alignment quaternion
6 years ago
933c32c921
Enable local frame alignment also without using it
6 years ago
ea352a6631
Dont use mag suffix for magnitude
6 years ago
05196db79e
Fix alignment of local frame
6 years ago
62fa464e4d
WindEstimator: added support for pre-set airspeed scale factor
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
6 years ago
a7d9c73d4d
Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
6 years ago
09f29dbb07
added option to fix airspeed scaling to 1
6 years ago
d38164fc8e
Fix flag for initialization
6 years ago
e1751188fd
EKF - Initialize _deadrekon_time_exceeded to true.
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If no sample have been received, deadrekoning and local position should be invalid.
6 years ago
a036cf82cc
EKF: Remove use of of quaternion self product operator and fix delta rotation sign
6 years ago
0e946f25fd
EKF: Remove use of quaternion self product operator and fix delta rotation sign error
6 years ago
ad7f7af03b
ekf: correct quaternion multiplication order
6 years ago
d6351bd7a5
EKF: update comment
6 years ago
7612fa40ed
EKF: Don't start using GPS for height until all validity checks have passed
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Consolidate intermittent data checks, improve variable and clarify usage.
6 years ago
cef2ba5ab9
implemented Kahan summation algorithm for adding process noise to delta
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angle- and delta velocity bias variance
- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
0f49eb34a0
fixed method which calculates validity of terrain estimate
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
6 years ago
cd34ab802d
mathlib delete floorf in favor of math.h
6 years ago
340d85afc1
EKF: fix variable names in estimator_interface.h
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This fixes issue #566
6 years ago
90b4c7c065
mathlib: fix floorf indentation
6 years ago
710c52980e
fixed calculation of magentic table values by using floor instead of int casting
6 years ago
54ac147ae8
Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time
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This does not change the default of 10 seconds.
6 years ago
770cd3c5cc
added python script for terrain flow derivation (optical flow for terrain
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height estimation)
Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
c085d7295d
addressed review comments
6 years ago
8673ab0346
terrain estimator: constrain terrain state properly
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
fbb51147b7
implemented use of optical flow for terrain estimation
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
a27a43eafa
Fix up link to EKF docs
6 years ago
3f691891c4
EKF: control: stop vision yaw fusion on timeout
6 years ago
c4492b17c1
do not reset yaw if vehicle on ground
6 years ago
14227eaf1d
CMakeLists.txt: fix cmake warning
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This removes the cmake warning:
implicitly converting 'string' to 'STRING' type.
6 years ago
f97f0b6ea3
EKF: Remove unnecessary code
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_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
6 years ago
43b5e26fe4
EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2
6 years ago
f95cd4b358
ground effect: removed dependency on local position
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Signed-off-by: Roman <bapstroman@gmail.com>
6 years ago
7845ff4360
EKF: increase wind process noise scaler to 0.5
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
32ca6f7030
ekf: scale wind process noise with low pass filtered height rate
6 years ago
938c8ad9ad
EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff
6 years ago
8b4ae48c69
README: Fix link to EKF/ECL tuning guide
6 years ago
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
6e77b197c7
Add DataValidatorGroup tests, add more DataValidator tests ( #592 )
6 years ago
a892ececf8
cmake add ECL_TESTS option only enabled in standalone build
6 years ago
fabd216ca5
EKF: Documentation edits
6 years ago
8d6e8ae078
EKF: update get_mag_decl_deg()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
2b17ced405
EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
1d91785a8e
EKF: correct quaternion order
6 years ago
000aa0de5d
EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter()
6 years ago
Paul Riseborough
bresch
kamilritz
RomanBapst
Silvan Fuhrer
Jaeyoung-Lim
CarlOlsson
Daniel Agar
Robert de Vries
Matthias Grob
Sebastian Verling
Beat Küng
Hamish Willee
Mohammed Kabir
Martina
Julian Oes
Todd Stellanova