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Commit Graph

95 Commits (e388e59f326d12d0bb5cad5d128a258bd866e18c)

Author	SHA1	Message	Date
Paul Riseborough	bba3f70a0e	EKF: reduce prediction time step from 12 to 8 sec ... Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate. Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.	7 years ago
Paul Riseborough	063533afae	EKF: Add method to enable the IMU bias states to be reset externally	7 years ago
Paul Riseborough	79995b2c15	Create total energy control system implementation ... This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.	7 years ago
Paul Riseborough	929c5c2b37	EKF: enable gps fusion flag to be false while fusing air data	7 years ago
Paul Riseborough	9857fb9eb6	EKF: publish control limits for optical flow navigation	7 years ago
ChristophTobler	6cb99ce8a8	ekf: add function to get in air status	7 years ago
CarlOlsson	8200e4b218	EKF: added get_wind_velocity_var function ... Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	7 years ago
Peter Dürr	5988900044	Add getters for a few private variables of the EstimatorInterface ... * For testing it is useful to have access to more internal states * For the same reason I also promote the const FILTER_UPDATE_PERIOD_MS to public	8 years ago
Peter Dürr	a2ed0a76f9	Make the destructor of EstimatorInterface virtual ... * This is a sane choice (and should arguably always be done for classes with virtual methods to avoid undefined behavior) * It is required for wrapping the EstimatorInterface with SWIG (without virtual destructor, deriving from the EstimatorInterface leads to -Werror=delete-non-virtual-dtor).	8 years ago
Paul Riseborough	cc5db74d1b	EKF: Add true airspeed accessor	8 years ago
Paul Riseborough	e1fe5b2229	Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""	8 years ago
Paul Riseborough	c887b02f21	Revert "Split get_terrain_vert_pos() into valid and get_vpos"	8 years ago
ChristophTobler	eae0522dc2	split into get_terrain_valid and get_terrain_vert_pos	8 years ago
Paul Riseborough	d446f66105	EKF: Add a fixed wing mode with setter function	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	fed4a9bc5a	EKF: add vertical position derivative output ... Add calculation of a vertical position derivative to the output predictor. This will have degraded tracking relative to the EKF states, but the velocity will be closer to the first derivative of the position and reduce the effect inertial prediction errors on control loops that are operating in a pure velocity feedback mode. Move calculation of IMU offset angular rate correction out of velocity accessor and into output predictor. Provide separate accessor for vertical position derivative.	8 years ago
CarlOlsson	871ebb251b	EKF: Changed get_control_mode to coyp 32 bits	8 years ago
CarlOlsson	be16406b35	EKF: Add feature to use the mag to only update the mag states	8 years ago
Daniel Agar	3919d60f66	ekf2 initialization fixes	8 years ago
Paul Riseborough	c607941e2f	EKF: Allow external setting of air density for multi-rotor drag fusion	8 years ago
Paul Riseborough	3758c5a09d	EKF: down-sample drag specific force data	8 years ago
Paul Riseborough	465b145929	EKF: Add multi-rotor drag model for wind estimation	8 years ago
Paul Riseborough	0d7e7e9d81	EKF: Don't use EKF origin in GPS drift check calculation ... The GPS drift calculations need to be able to run independently of the EKF origin.	8 years ago
Paul Riseborough	040639837e	EKF: Use common timeout test for reporting deadreckoning ... Use a parameter to set the time-out threshold Use a class variable for the time-out flag Clean up comments	8 years ago
Paul Riseborough	5fb24c3032	EKF: Reduce EKF prediction delta time jitter ... Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic. Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.	8 years ago
Paul Riseborough	8070691aa4	EKF: Add accessor function for velocity accuracy	8 years ago
Paul Riseborough	d6abf3f2e4	EKF: add accessor function for local position accuracy	8 years ago
Paul Riseborough	b7d0b3c4d0	EKF: Improve naming of WGS-84 accuracy accessor function	8 years ago
Paul Riseborough	d22599b440	EKF: Add reporting of inertial dead-reckoning status	8 years ago
Daniel Agar	2750961be6	c++11 initialization cleanup (#237)	8 years ago
Lorenz Meier	453bde73f8	ECL: Simplify / correct estimator interface	8 years ago
Daniel Agar	d668a2d798	clang-tidy performance-unnecessary-value-param	8 years ago
Paul Riseborough	934890c2df	EKF: Add validity flag to ekf origin reporting ... Flag is false until the origin has been initialised	8 years ago
Paul Riseborough	5ad329b641	EKF: Fix variable names to match convention	8 years ago
Paul Riseborough	d5b398ddb1	EKF: Minimise data buffer lengths ... Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.	8 years ago
CarlOlsson	12aeaafbd3	adopted estimator_interface.h	8 years ago
Paul Riseborough	b10b0184c5	EKF: Add IMU vibration calculation and reporting ... Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration	8 years ago
Paul Riseborough	352750e5d1	EKF: publish ekf solution status summary data	8 years ago
Paul Riseborough	744b79c1b2	EKF: Publish innovation test ratios	8 years ago
Paul Riseborough	65762e5998	EKF: publish output predictor tracking errors	8 years ago
Youssef Demitri	168d9add76	added getter function for wind states	9 years ago
Roman Bapst	bec1a6831e	added method to get gyro bias ... Signed-off-by: Roman Bapst <roman@px4.io>	9 years ago
Roman Bapst	670c6ca019	change state reset information interface for more convenient handling ... on firmware side	9 years ago
Paul Riseborough	6a55d908c5	EKF: replace reset event times with event counters ... Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.	9 years ago
Paul Riseborough	70f76e1a6c	EKF: publish innovation consistency check fail status	9 years ago
Paul Riseborough	e371a303a9	EKF: publish the quaternion reset event	9 years ago
Paul Riseborough	b2e432e211	EKF: publish position and velocity reset data	9 years ago
Paul Riseborough	733862f649	EKF: move the reset status struct to the Ekf class ... This protects it from being modified externally	9 years ago
Paul Riseborough	4237269fab	EKF: add struct to capture state reset events	9 years ago
Paul Riseborough	65da9173b9	EKF: capture innovation checks and reset events in separate variables ... rename the innovation check status class variable and remove the reset flags from it.	9 years ago