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660 Commits

Author SHA1 Message Date
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough 160e4d69c1 Merge pull request #323 from PX4/pr-ekfQuatMultOrder 
EKF: use hamiltonian convention for quaternion multiplication order
 2017-09-21 07:49:35 +10:00
Paul Riseborough 1d3e8edc46 EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation 2017-09-14 18:34:11 +10:00
Paul Riseborough dd5b8525c3 EKF: Use hamiltonian convention for quaternion product order 2017-08-31 11:14:02 +02:00
Paul Riseborough b0300b9723 Revert "attitude_fw delete unused and cleanup" 
This reverts commit 25bd3ac5e6.
 2017-08-30 16:23:40 +02:00
Daniel Agar 25bd3ac5e6
attitude_fw delete unused and cleanup 2017-08-26 17:44:24 -04:00
Daniel Agar 99ba1c3745
EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00
ChristophTobler 89236ef275 Merge pull request #314 from PX4/pr-check_stuck_rng 
Pr check stuck rng
 2017-08-21 07:54:06 +02:00
Peter Dürr 305a95aef9 Integrate Python-based tests and benchmark into Travis 
* 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
 2017-08-14 12:02:03 +02:00
Peter Dürr 15c8c24418 Fix time units on plots 
* Time in plots was of by a factor of 1e3 due to wrong conversion from us.
 2017-08-14 12:02:03 +02:00
Peter Dürr b29067a188 Better handle Python dependencies 
* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
  user if necessary.
 2017-08-14 12:02:03 +02:00
Peter Dürr bb5719a0da Add Python wrapper to ecl and use it to test functionality 
* 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
 2017-08-14 12:02:03 +02:00
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
 2017-08-14 12:02:03 +02:00
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).
 2017-08-14 12:02:03 +02:00
Paul Riseborough 3983ac23fa Merge pull request #316 from PX4/pr-ekfTrueAirspeed 
EKF: Add true airspeed accessor
 2017-08-11 08:18:04 +10:00
Paul Riseborough 35ffd55481 EKF: Fix incorrect use of double precision operation 2017-08-07 10:34:19 +10:00
Paul Riseborough cc5db74d1b EKF: Add true airspeed accessor 2017-08-07 09:19:48 +10:00
ChristophTobler 8ecec58292 Check for stuck range finder measurements in terrain estimator 2017-07-31 17:59:44 +02:00
ChristophTobler 7252284628 Add check for stuck range finder measurements 2017-07-31 17:59:16 +02:00
ChristophTobler 41f4b62cdb fix indentation 2017-07-31 17:58:03 +02:00
Paul Riseborough 596b8220e2 EKF: Output mag sensor isolation warning first time only 2017-07-31 19:39:07 +10:00
Paul Riseborough ce806768b7 EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing 2017-07-31 19:39:07 +10:00
Paul Riseborough c230663b68 Merge pull request #309 from PX4/pr-ekfYawFusion 
EKF: Improve efficiency of yaw fusion for External Vision
 2017-07-31 19:37:15 +10:00
Paul Riseborough 3ee6898710 EKF: Enable origin to be maintained when starting aiding using EV only 
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.
 2017-07-29 15:31:34 +10:00
Paul Riseborough e08da1c599 EKF: Add ability to use EV and GPS data together 
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.
 2017-07-26 18:06:18 +10:00
Paul Riseborough f3909244f0 EKF: Correct units in comments 2017-07-25 09:17:18 +10:00
Paul Riseborough 20584ee997 EKF: Improve efficiency of heading fusion calculations when using EV heading 
Moves calculation only required for mag heading fusion into the if (_control_status.flags.mag_hdg) branch
When using EV yaw, the observed yaw angle is calculated directly from the EV quaternions using derived expressions from references in code comments.
 2017-07-21 10:56:14 +10:00
Paul Riseborough df34b43c00 Merge pull request #308 from PX4/pr-ekfDoxygen 
EKF: Update documentation and make compatible with Doxygen
 2017-07-21 10:55:18 +10:00
Paul Riseborough aec01ce59c EKF: Update class variable documentation and make compatible with Doxygen 2017-07-20 20:16:42 +10:00
ChristophTobler 61a7991693 constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2) 2017-07-20 08:29:11 +02:00
Paul Riseborough e1fe5b2229 Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos"" 2017-07-19 17:52:35 +10:00
Paul Riseborough c887b02f21 Revert "Split get_terrain_vert_pos() into valid and get_vpos" 2017-07-19 17:33:48 +10:00
ChristophTobler e429ecab17 check if terrain valid instead of initialized 2017-07-17 16:43:23 +02:00
ChristophTobler eae0522dc2 split into get_terrain_valid and get_terrain_vert_pos 2017-07-17 16:42:42 +02:00
ChristophTobler 517fe8a71f rng aid: use hysteresis with lower hagl check 2017-07-17 13:36:51 +02:00
ChristophTobler 8ed61ac052 init rng offset with ground clearance param when on ground to avoid noisy init 2017-07-13 17:43:19 +02:00
ChristophTobler d2945abd85 return hagl valid false if update was rejected 2017-07-13 14:17:48 +02:00
Paul Riseborough 9ee35e38df EKF: Don't fallback when optical flow is lost if external vision data is being used 2017-07-13 20:21:41 +09:00
Paul Riseborough 1bb576c197 EKF: Allow fallback to non-aiding mode if external vision is lost. 2017-07-13 20:21:41 +09:00
Isaac f96685267e Fixed vision position fusion bug 2017-07-10 13:44:51 +10:00
Paul Riseborough ec2b54fde7 EKF: Ensure normal yaw alignment using mag is performed if GPS method is not 2017-07-08 11:13:40 +02:00
Paul Riseborough d446f66105 EKF: Add a fixed wing mode with setter function 2017-07-08 11:13:40 +02:00
Paul Riseborough f064915889 EKF: Enable planes to recover from bad mag data at start of flight 
Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
 2017-07-08 11:13:40 +02:00
Paul Riseborough 929f205a00 EKF: Changes arising from code review 2017-07-04 08:12:15 +10:00
Paul Riseborough 7b5f55303a EKF: Prevent covariance instability in delta velocity bias state estimation 2017-07-03 21:04:07 +10:00
Paul Riseborough eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Paul Riseborough ae118940b1 Merge pull request #292 from PX4/pr-use_baro_align 
use baro for the ekf alignment if range finder is primary height source
 2017-07-03 20:31:16 +10:00
Paul Riseborough dfbc9de48e Merge pull request #291 from PX4/pr-ekfWindEstBugFix 
EKF: Fix bug affecting wind estimation for planes
 2017-07-01 11:06:58 +10:00
ChristophTobler ed8fa16678 use baro for the ekf alignment if range finder is primary height source 2017-06-30 10:28:57 +02:00
Paul Riseborough 59edccca4a EKF: Fix bug in wind estimation for fixed wing 2017-06-30 10:32:54 +10:00