063533afae
EKF: Add method to enable the IMU bias states to be reset externally
7 years ago
79995b2c15
Create total energy control system implementation
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This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
7 years ago
e10ec59058
EKF: Use consistent test for navigation validity reporting
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This will enable controller to take advantage of non-inertial dead reckoning.
7 years ago
19074fdd9e
EKF: Use consistent time limit for inertial dead reckoning test
7 years ago
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
7 years ago
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
7 years ago
e4ffe199ed
EKF: fix bug in sideslip fusion activation
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
9857fb9eb6
EKF: publish control limits for optical flow navigation
7 years ago
2e03084d34
EKF: If aligning yaw for fw with low GPS velocity, use mag
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
8c83167857
EKF: fixed comment
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
7 years ago
32b795ee10
EKF: Add readme file to EKF documentation directory
7 years ago
8dd4800a2c
EKF: Add preliminary documentation for filter mathematics
7 years ago
dbff89fbcb
EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW
7 years ago
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
7 years ago
e834522f62
EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic
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
4db23b7b2e
EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks
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
cdf6e6cd36
EKF: use delta_time to avoid division by zero
7 years ago
d293c4231d
EKF: Protect against divide by zero caused by invalid optical flow
7 years ago
ab9b8e1964
EKF: Prevent bad optical flow quality causing loss of aiding when on ground
7 years ago
b7e589b98a
EKF: only fuse optical flow if terrain is valid
7 years ago
81a64c0479
ekf: fix flow direction when on ground
7 years ago
6cb99ce8a8
ekf: add function to get in air status
7 years ago
8200e4b218
EKF: added get_wind_velocity_var function
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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
b0300b9723
Revert "attitude_fw delete unused and cleanup"
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This reverts commit 25bd3ac5e6
8 years ago
25bd3ac5e6
attitude_fw delete unused and cleanup
8 years ago
99ba1c3745
EKF trivial code style cleanup
8 years ago
305a95aef9
Integrate Python-based tests and benchmark into Travis
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* Unfortunately, due to the SWIG dependency, we need sudo to install on
Travis (conflicts when adding with debian-sid source prevent using addons)
which means we cannot use the container-based infrastructure anymore.
* Building the Python bindings requires g++5 (at least with -Werr set).
* When building the Python bindings on Travis, the numpy includes are not found
by cmake, so they have to be added separately by running a Python process with
`numpy.get_include()`
* The build script now (somewhat clumsily) depends on the RUN_PYTEST environment
variable. If it is set to anything other than "", it will make the tests and
run tests and benchmarks
8 years ago
15c8c24418
Fix time units on plots
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* Time in plots was of by a factor of 1e3 due to wrong conversion from us.
8 years ago
b29067a188
Better handle Python dependencies
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* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
user if necessary.
8 years ago
bb5719a0da
Add Python wrapper to ecl and use it to test functionality
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* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
8 years ago
5988900044
Add getters for a few private variables of the EstimatorInterface
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* 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
a2ed0a76f9
Make the destructor of EstimatorInterface virtual
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* 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
35ffd55481
EKF: Fix incorrect use of double precision operation
8 years ago
cc5db74d1b
EKF: Add true airspeed accessor
8 years ago
8ecec58292
Check for stuck range finder measurements in terrain estimator
8 years ago
7252284628
Add check for stuck range finder measurements
8 years ago
41f4b62cdb
fix indentation
8 years ago
596b8220e2
EKF: Output mag sensor isolation warning first time only
8 years ago
ce806768b7
EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing
8 years ago
Paul Riseborough
ChristophTobler
CarlOlsson
Daniel Agar
Peter Dürr