bresch
aa96fa6d9e
Random style fixes in the code
5 years ago
Daniel Agar
47624a0f02
EKF increase delta velocity process noise per axis if clipping ( #663 )
5 years ago
kamilritz
2fa43419d2
Interface: output vector quantities by "return-by-value"
5 years ago
CarlOlsson
b6420d0b79
ekf: add vehicle at rest to flags
5 years ago
kritz
ee859e092a
Robustify timestamp checks ( #729 )
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* Robustify timestamp checks
* Remove lowerbound on sensor timestamp
* Add tests for fusion timeouts
* Inline and const time check functions
* Rename dead_reckoning time variable
5 years ago
bresch
e3af91c9ce
Ekf: use helper functions to centralize the checks of horizontal aiding (gps, flow, ev_pos, ev_vel)
5 years ago
kamilritz
a3e1eb9d50
Checkout to matching firmware if possible
5 years ago
kamilritz
f3d790a664
Update optical flow interface
5 years ago
RomanBapst
cafb1400fb
estimator_interface: bugfix, set range sample correctly
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
5 years ago
kamilritz
de33885658
Update setExtVisionData interface
5 years ago
kamilritz
37201fb071
Remove legacy imu interface
5 years ago
kamilritz
7c3a2f839b
Update range finder interface
5 years ago
kamilritz
4fb2d1b02e
Update range finder interface
5 years ago
kamilritz
9f0d8ed59e
Update mag interface
5 years ago
kamilritz
856961ba85
Update airspeed interface
5 years ago
kamilritz
b8a3ed5f09
Update baro interface
5 years ago
kamilritz
74ec80cdc7
Update gps interface
5 years ago
kamilritz
83b2abe434
protect against overflow
5 years ago
kamilritz
4be9ae8029
Compute the timestamp of average sample correctly
5 years ago
kamilritz
29c5954690
Move baro downsampling and dynamic pressure comp to ECL
5 years ago
kamilritz
d7d7b56519
Move mag down sampling to ECL lib
5 years ago
kamilritz
be11516dd6
Refactor IMU downsampling into its own class
5 years ago
kamilritz
c7e074276f
Save flash space
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This commit saves roughly 400-500 Bytes in flash space
5 years ago
kamilritz
84dcb32bd8
Extend auxVel interface to support 3d velocity
5 years ago
kamilritz
07e8e88e88
Support full vision variance
5 years ago
kamilritz
1fcfd394dd
Various small non-functional improvements
5 years ago
kamilritz
0b18143745
Improve readibility
5 years ago
kamilritz
3daf25763e
Remove unnecessary comments
5 years ago
kamilritz
36da8d82c8
Clean up white space
5 years ago
kamilritz
9e6d27fafb
Add missing const qualifier
5 years ago
kritz
532c9abd4a
Expand test framework and test cases ( #685 )
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* Fix comment
* Ekf wrapper for testing
Add utility function for accessing information in the ekf object
* Add step function for Gps sensor
* Add RangeFinder and Flow to simulated sensors
* Add first fusion logic tests
* Add units to function name
* Use EXPECT_TRUE
* Adding missing qualifiers
* Improve EXPECT_ calls
* Improve naming
5 years ago
kritz
6c25ac5731
Tilt Initialisation: Average Filter -> LowPass Filter ( #686 )
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* Tilt Initialisation: Average Filter -> LowPass Filter
* Add _is_first_imu_sample variable
* Remove not needed comments
5 years ago
Daniel Agar
98a1aae494
EKF: use Matrix cross product
5 years ago
kamilritz
1bf09fd370
Remove EKF prefix from logged messages
5 years ago
kritz
4a38f5a2f6
Add timestamp to ECL print statements, ( #644 )
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which is helpful for EKF replay debugging.
5 years ago
kamilritz
fd6b364c11
posNED to pos and velNED to vel and add ev vel covariances to reset
6 years ago
kamilritz
1e57c4bbec
Fix white space
6 years ago
kamilritz
4511b9ff5e
Add missing checks for flags.ev_vel
6 years ago
kamilritz
149233a9ab
Add velocity observations to external vision interface
6 years ago
Nico van Duijn
640e41cba7
EKF: change rangeSample quality to int8_t
6 years ago
Nico van Duijn
a12186c285
terrain_estimator: introduce quality metric in rng
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This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
6 years ago
Carl Olsson
f0889c1760
EKF: fixed some comment typos
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
6 years ago
Daniel Agar
c66f7f4a09
EKF drop unused timestamp from collect_gps() and pass data by const reference
6 years ago
Daniel Agar
a5e6191ba7
EKF add clarity brackets to avoid potential confusion
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- fixes https://github.com/PX4/ecl/issues/555
6 years ago
Anna Dai
721f5e61a5
increase optical flow buffer to imu buffer length
6 years ago
Daniel Agar
8bbaf898a5
EKF add new simple setIMUData() interface ( #512 )
6 years ago
Paul Riseborough
e6cd6eff87
EKF: Fix bug preventing use of flow sensors without gyros
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The handling of invalid flow data when on ground is performed in controlOpticalFlowFusion() where it is able to handle flow sensors that don't publish gyro data.
6 years ago
Paul Riseborough
6847acb72e
EKF: Add protection for undefined GPS antenna array heading offset
7 years ago
Paul Riseborough
91f886cb5e
EKF: Add support for use of GPS heading data.
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Heading data is assumed to be from a dual antenna array at a specified yaw angle offset in body frame, but with the heading data already corrected for antenna offset. The offset is required to apply the correct compensation for combined rotations and to determine when the yaw observation has become badly conditioned.
7 years ago
Dion Gonano
2354c30d81
Add vision height covariance passthrough ( #507 )
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* Add vision height covariance passthrough
* Fix hgtErr layout
7 years ago