74ec80cdc7
Update gps interface
5 years ago
a21a7cd5b9
Remove output argument from calcEarthRateNed
5 years ago
9e6d27fafb
Add missing const qualifier
5 years ago
066392ef02
Improve naming
5 years ago
f99dbd8ca3
Improve naming and brackets
5 years ago
a24aaad861
CleanUp GPS drift checks
5 years ago
c6e3f389d2
Replace calculation of earth NED rotation vector
5 years ago
1bf09fd370
Remove EKF prefix from logged messages
5 years ago
88c4929c96
Use helper function to switch to gps height
5 years ago
042d9b6615
Remove dangerous _primary_hgt_source variable
5 years ago
6b5f011bc2
ekf: use PDOP instead of GDOP as the TDOP (part of GDOP) is usually not available
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PDOP is the position dillution of precision and is given by sqrt(VDOP^2+HDOP^2)
5 years ago
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
5 years ago
1e57c4bbec
Fix white space
5 years ago
4511b9ff5e
Add missing checks for flags.ev_vel
5 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
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
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
c66f7f4a09
EKF drop unused timestamp from collect_gps() and pass data by const reference
6 years ago
3accab1ac5
EKF: protect declination fusion from badly conditioned earth field estimates
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Fusion with large initial magnetometer biases errors can result in the the NE earth field states reducing in magnitude and effectively flipping sign.
EKF: Move declination state limiting into a separate function
EKF: Limit NE mag states after each 3-axis mag fusion
EKF: Fix bug in mag field strength look-up scale factor
6 years ago
4657a9cd21
EKF: Ensure yaw gets reset when declination is set
6 years ago
35f628e68f
EKF: Add interface to enable logging of GPS drift metrics ( #490 )
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* EKF: Add interface to enable logging of GPS drift metrics
* EKF: Fix bug affecting rate of GPS drift publication
Also fix variable name.
7 years ago
4d01883f75
EKF: Disable GPS drift checks when the vehicle is moving.
7 years ago
99a80387ed
EKF: improve optical flow GPS quality checking
7 years ago
7f36add241
EKF: scale GPS vertical accuracy check when using optical flow
7 years ago
84516760c0
EKF: Use stricter GPS accuracy test when optical flow is being used
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This adds some hysteresis to the automated optical flow selection and also reduces likelihood of bad GPS being used when operating indoors,
7 years ago
4ab78230e6
EKF: Add persistence criteria to GPS fail check
7 years ago
bd59e381db
EKF: always run GPS checks
7 years ago
c5b2f59f57
PX4 style fixes (excluding EKF generated code)
7 years ago
cd12f049fe
move geo and geo_lookup from PX4 Firmware to ECL
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
3ee6898710
EKF: Enable origin to be maintained when starting aiding using EV only
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When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.
8 years ago
0d7e7e9d81
EKF: Don't use EKF origin in GPS drift check calculation
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The GPS drift calculations need to be able to run independently of the EKF origin.
8 years ago
710b2bcb9f
EKF: Do not move EKF origin when performing GPS checks
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Doing so can casue large jumps in GPS position and innovation check errors after landing and also reduces the effectiveness of pre-flight innovation consistency checks.
8 years ago
a1ff219380
EKF: Extend range of conditions over which we run GPS quality checks
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Previously GPS quality checks were only run until the EKF origin was set. This meant that they could not be used by other pre-flight checks.
This change ensures that checks will always be run when the vehicle on-ground or not using GPS to enable use by external preflight checks.
8 years ago
2750961be6
c++11 initialization cleanup ( #237 )
8 years ago
7883085e4a
clang-tidy readability-simplify-boolean-expr ( #235 )
8 years ago
3c4c09593f
EKF: Rationalise console messages
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Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
8 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
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
9 years ago
22d18d638c
enable Wshadow
9 years ago
687fcc70be
EKF: Explicitly define type conversion for GPS height
9 years ago
6b2e2dba90
EKF: Add GPS height option and improve height recovery
9 years ago
d2407c3463
EKF: code style updates
9 years ago
26238bc2f5
EKF: Allow for change in position when defining the WGS-84 origin position
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This allows GPS aiding to commence later in flight without step changes in local position output
9 years ago
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
9 years ago
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
9 years ago
83945581ed
EKF: Add function to calculate the magnetic declination to use
9 years ago
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
9 years ago
2b1e8fe910
EKF: Update tuning parameters
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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
9 years ago
kamilritz
bresch
Paul Riseborough
Beat Küng
Carl Olsson
Daniel Agar
Paul Riseborough
ChristophTobler
Julian Oes
bugobliterator