We had not actually properly adjusted the timeout to the lockstep speed
factor. Once we did that, we had to increase the timeouts quite a bit to
have the tests pass.
* EKF: Add comparison test for mag field fusion generated code
* EKF: convert mag field fusion to use SymPy generated code
* EKF: Add test comparison program for yaw fusion equations
* Stop setting 0 to 0
* Reduce if/else statement to only if
* EKF: more accurate implementation for sequential fusion of magnetometer data
* test: update change indicator
* Use matrix::SparseVector<float, 24, ...> for observation jacobian
* Adapt the auto code generation to allow for different bracket styles
* Add auto generated code for mag fusion
* Add generic computation of KHP
* Apply generic computation of KHP to mag fusion
* tests: update change indicator
* tests: update change indicator
Co-authored-by: kamilritz <kritz@ethz.ch>
* Add SparseVector
temp
* Add gtest
* Some reworking of the sparse concept
* Change type of M from int to size_t
* Add const modifier
* Add needed declaration for accessing elements of _indices
* Add norm_squared, norm, longerThan
* Add test for all sparse vector functions
* Add missing const to slice's norm_squared, norm and longerThan
* Construction from Vector<M> and carray[N]
* try to fix ci
Co-authored-by: Julian Kent <julian@auterion.com>
* added python script with ekf derivation (WIP)
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* worked on c code auto-generation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* save before variable name change
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* changed symbol names
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* added codegeneration class
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* improve 3D mag fusion derivation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* EKF: Extend ekf sympy derivation to include all observation types
* EKF: Add custom ecl::powf function for integer powers
* EKF: Convert ekf covariance prediction to use sympy output
* EKF: Add test program to compare sympy and matlab covariance prediction
Also tests ecl::powf(x,exp) function
* EKF: simplify ecl::powf function
* Generate code to subfolder generated/
* Add printouts for showing code generation progress
* Move generated covariance code to generated folder
* Upgrade code generation to python3
* main.py: Remove unused create_symbols function
& making code more compact
* main.py: move main part into function
* Code generation: fix passing wrong rotation matrix to yaw_observation ()
* EKF: Amend generated code filename for consistency
* Move ecl::powf function test to unit tests
* EKF: Use updated ecl:powf functionality in test program
* Move ecl::powf to utils.hpp
* Update ecl::powf test
* Update output change indication
* test: update expected output for change indicator
* test: update expected output for change indicator again
Co-authored-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: kamilritz <kritz@ethz.ch>
Minor consistency fixes for the copyright header and update the tables to current. PX4Buildbot will periodically update the tables automatically from this point.
- updated table to 2 bytes (int16) per element and scaled the inclination/declination/strength tables to use most of the range without being too awkward
- tables have been extended to include the full latitude range
- expanded the API slightly to offer declination/inclination in both degrees/radians and the magnetic strength in Gauss and Tesla
- generated some simple testing that verifies interpolation between points
This workaround should fix the test failure where we disarm before
taking off because we accidentally switched to failsafe mode right
before taking off because we were still in Manual mode and not Hold yet.
Julian Oes
Beat Küng
kamilritz
Morten Fyhn Amundsen
Daniel Agar
PX4 BuildBot
Paul Riseborough
Julian Kent
Matthias Grob