83b765f707
EKF: Don't print navigation lost message on startup
7 years ago
89be63d6c2
EKF: Fix vel pos innovation logging bug
7 years ago
b0ad8269a5
EKF: enable separate monitoring of aux velocity innovations
7 years ago
2a57fd858d
EKF: clean up reset of fusion flags
7 years ago
8e30c2666d
EKF: Add support auxiliary velocity observation
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This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
7 years ago
a2b24fa960
EKF: Protect against ground effect induced static pressure rise during landing and takeoff.
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Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
7 years ago
7c8fcf7628
EKF: Clarify use of *= operator for quaternions
7 years ago
ed9a394029
EKF RingBuffer avoid copying
7 years ago
2b20c52c4d
EKF: Remove redundant code
7 years ago
72a7ab2c25
EKF: Improve resistance to bad initial mag offset
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When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
7 years ago
c70363c501
EKF: Don't fuse heading if FW and waiting for mag states to stabilise
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Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
7 years ago
f3e34eddc9
EKF: do not attempt to align FW yaw using GPS method if on ground
7 years ago
29d383edbf
EKF: Allow mag field estimates to stabilise before use
7 years ago
363edf5eb9
EKF: Fix yaw reset for fixed wing
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Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
7 years ago
5fd006ca48
EKF: remove redundant code
7 years ago
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
7 years ago
01d68ef67c
EKF: Enable use of rotated external nav estimates
7 years ago
59f1c3e19e
EKF: Update dead-reckoning definition
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Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
7 years ago
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
7 years ago
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
7 years ago
204a218ee6
EKF: Allow dead-reckoning using air data
7 years ago
f5fd90533a
fix gps and flow flag handling
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gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
7 years ago
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
7 years ago
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
7 years ago
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
7 years ago
b7e589b98a
EKF: only fuse optical flow if terrain is valid
7 years ago
0a7c3ecbc6
EKF: Parameterize maximum angle for rng fusion
8 years ago
1d3e8edc46
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation
8 years ago
dd5b8525c3
EKF: Use hamiltonian convention for quaternion product order
8 years ago
99ba1c3745
EKF trivial code style cleanup
8 years ago
7252284628
Add check for stuck range finder measurements
8 years ago
ce806768b7
EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing
8 years ago
e08da1c599
EKF: Add ability to use EV and GPS data together
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Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
8 years ago
e1fe5b2229
Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""
8 years ago
c887b02f21
Revert "Split get_terrain_vert_pos() into valid and get_vpos"
8 years ago
e429ecab17
check if terrain valid instead of initialized
8 years ago
517fe8a71f
rng aid: use hysteresis with lower hagl check
8 years ago
8ed61ac052
init rng offset with ground clearance param when on ground to avoid noisy init
8 years ago
9ee35e38df
EKF: Don't fallback when optical flow is lost if external vision data is being used
8 years ago
1bb576c197
EKF: Allow fallback to non-aiding mode if external vision is lost.
8 years ago
f96685267e
Fixed vision position fusion bug
8 years ago
ec2b54fde7
EKF: Ensure normal yaw alignment using mag is performed if GPS method is not
8 years ago
d446f66105
EKF: Add a fixed wing mode with setter function
8 years ago
f064915889
EKF: Enable planes to recover from bad mag data at start of flight
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Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
8 years ago
59edccca4a
EKF: Fix bug in wind estimation for fixed wing
8 years ago
ba4a311771
EKF: Update comments for wind estimation logic
8 years ago
e1274ad28a
move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available
8 years ago
0d9e535acb
Use baro if reset to baro from gps and vice versa
8 years ago
4a4b0fa604
remove setting rng faulty in ev mode because not checked
8 years ago
Paul Riseborough
Daniel Agar
ChristophTobler
CarlOlsson
Paul Riseborough
Isaac