f9be23933b
Correct deg to rad conversion inversion. Add additional functionality to mathlib to allow standalone compile without Limits.cpp and Limits.hpp files from PX4.
9 years ago
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
9 years ago
1414d591ce
EKF: Fix bug in declination fusion indexing
9 years ago
b2744f965d
use in_air flag from land detector to determine if we are on the ground
9 years ago
569886a4fc
EKF: Fix bug in velocity and position innovation consistency checks
9 years ago
f9e3db0504
Move variable initializations from header file to constructor to allow C99 compliance.
9 years ago
d8627c6aaf
EKF: Reset the vertical position states if height fusion times out
9 years ago
f7a53d69f2
EKF: Improve height reset function
...
Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
9 years ago
a6da73fa83
EKF: Add missing div0 protection
9 years ago
d5e47d21db
EKF: miscellaneous comment and format changes
9 years ago
7c83ac4b6d
EKF: Use heading fusion as default for startup and ground operation
9 years ago
57d4064d7b
EKF: Increase default heading observation noise
...
Improves robustness when operating in a bad magnetic field environment
9 years ago
97df006a6a
EKF: Update direct heading fusion
...
Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
9 years ago
5fec0df70d
Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization.
9 years ago
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
9 years ago
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
...
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
9 years ago
a30830a7a9
EKF: Scale position observation noise with GPS quality
...
This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
9 years ago
f55a0bff53
EKF: Fix code style
9 years ago
5b5bddebea
EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode
9 years ago
2d09a5f3ac
EKF: Don't reset yaw and mag field states when not necessary
9 years ago
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
...
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
9 years ago
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
9 years ago
36affe3cd8
EKF: Fix bug causing incorrect initial roll when inverted
9 years ago
016695fc3e
EKF: Reduce startup transients
...
Update initial state variance values
9 years ago
6613335937
Added constexpr back from const var type.
9 years ago
342010c113
Update c style array initialization to attempt to pass Travic CI build tests.
9 years ago
48e80e9e3e
Correct C style array initialization.
9 years ago
f9f00fa52b
Remove unnecessary include.
9 years ago
ccb5736353
Spaces to tab.
9 years ago
a4cecb1704
Match variable initialization order difference with upstream.
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
...
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
4ce4724105
Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables.
9 years ago
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
9 years ago
90e1bd3e36
EKF: wrap compass yaw estimate
9 years ago
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
...
Use direct calculation of Kaman gains with optimised algebra
9 years ago
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
...
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
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
ba7f0fc9ff
EKF: add licensing information for mathlib header and src
9 years ago
80632cc12c
EKF: add comments and licensing information to builder files
9 years ago
a40eb7cf37
EKF: add check for existence of matrix submodule
9 years ago
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
9 years ago
2096e24c06
EKF: fix time of sample receive setting
9 years ago
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
...
Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
9 years ago
abf9476853
EKF: miscellaneous formatting and typo updates
9 years ago
ffe1d30864
EKF: Set covariances to zero for un-used states
9 years ago
294aca8609
EKF: Improve variance limiting for stationary states
...
Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
9 years ago
1d40507af8
EKF: Set Kaman gains to zero for un-used states
...
This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
9 years ago
mcsauder
Paul Riseborough
Roman Bapst
bugobliterator