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136 Commits

Author SHA1 Message Date
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 cc5db74d1b EKF: Add true airspeed accessor 2017-08-07 09:19:48 +10:00
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 eae0522dc2 split into get_terrain_valid and get_terrain_vert_pos 2017-07-17 16:42:42 +02:00
Paul Riseborough d446f66105 EKF: Add a fixed wing mode with setter function 2017-07-08 11:13:40 +02:00
Paul Riseborough eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Daniel Agar c44488fdb8
EKF matrix typedef cleanup 2017-06-19 11:10:01 -04:00
Paul Riseborough c48b879843 Merge pull request #276 from CarlOlsson/feature/only_update_mag_states 
EKF: Add feature to use the mag to only update the mag states
 2017-06-14 11:04:14 +10:00
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.
 2017-06-12 10:45:46 +10:00
CarlOlsson 871ebb251b EKF: Changed get_control_mode to coyp 32 bits 2017-06-01 11:02:56 +02:00
CarlOlsson be16406b35 EKF: Add feature to use the mag to only update the mag states 2017-05-26 11:29:21 +02:00
Daniel Agar 3919d60f66
ekf2 initialization fixes 2017-04-24 18:56:50 -04:00
Paul Riseborough c607941e2f EKF: Allow external setting of air density for multi-rotor drag fusion 2017-04-16 13:07:12 +02:00
Paul Riseborough 3758c5a09d EKF: down-sample drag specific force data 2017-04-16 13:07:12 +02:00
Paul Riseborough 465b145929 EKF: Add multi-rotor drag model for wind estimation 2017-04-16 13:07:12 +02:00
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.
 2017-04-12 13:11:34 +02:00
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
 2017-03-15 07:57:38 +01:00
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.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Daniel Agar d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Paul Riseborough 934890c2df EKF: Add validity flag to ekf origin reporting 
Flag is false until the origin has been initialised
 2016-12-28 00:56:09 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
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.
 2016-11-07 09:06:45 +11:00
CarlOlsson 12aeaafbd3 adopted estimator_interface.h 2016-11-05 12:19:01 +01:00
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
 2016-10-19 21:46:55 +11:00
Paul Riseborough 352750e5d1 EKF: publish ekf solution status summary data 2016-10-06 09:02:29 +02:00
Paul Riseborough 744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Paul Riseborough 65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Youssef Demitri 168d9add76 added getter function for wind states 2016-07-22 12:33:41 +02:00
Roman Bapst bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst 670c6ca019 change state reset information interface for more convenient handling 
on firmware side
 2016-06-06 13:22:20 +02:00
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.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 70f76e1a6c EKF: publish innovation consistency check fail status 2016-06-01 17:13:00 +10:00
Paul Riseborough e371a303a9 EKF: publish the quaternion reset event 2016-06-01 17:13:00 +10:00
Paul Riseborough b2e432e211 EKF: publish position and velocity reset data 2016-06-01 17:13:00 +10:00
Paul Riseborough 733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough 4237269fab EKF: add struct to capture state reset events 2016-06-01 17:13:00 +10:00
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.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 8125717bf5 EKF: remove un-used airspeed health class variable 
Airspeed rejection now is captured in _sensor_fault_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 106482b078 EKF: add structure to capture innovation test failures and state resets 2016-06-01 17:13:00 +10:00
Paul Riseborough d5b5cb5899 EKF: improvements to observation collection 
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
 2016-05-26 13:27:08 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
waltjohnson 7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough 81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 3cdf56e57c Merge pull request #122 from CarlOlsson/airspeed_fix 
fixed_airspeed_healthy_bug
 2016-05-09 10:24:22 +10:00
CarlOlsson ee7d7aeb8a fixed_airspeed_healthy_bug 2016-05-08 18:30:37 +02:00
Paul Riseborough c66ed7b662 EKF: Add interface method for filter fault status 2016-05-07 21:18:00 +10:00
Paul Riseborough 020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +10:00
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Paul Riseborough 10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Lorenz Meier 9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
EKF: improve reporting of filter status
 2016-04-20 11:44:02 +02:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough 6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
CarlOlsson 81fc086b76 adopted ekf_interface.h 2016-03-30 17:01:03 +02:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
mcsauder f9e3db0504 Move variable initializations from header file to constructor to allow C99 compliance. 2016-03-02 08:42:38 +01:00
Paul Riseborough cd0cac066a EKF: Calculate and publish horizontal and vertical position accuracy 
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
 2016-02-25 10:38:07 +11:00
Paul Riseborough a30830a7a9 EKF: Scale position observation noise with GPS quality 
This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
 2016-02-25 10:16:32 +11:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
mcsauder 72243c4a84 Resolve tab/space differences with upstream master. 2016-02-18 03:28:40 -07:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
bugobliterator 263c48d089 EKF: remove dependecies and allow ekf to be built as standalone shared lib 2016-02-17 17:33:18 -08:00
Paul Riseborough 9017e077f8 EKF: Publish the magnetic declination we wish to save for next startup 2016-02-14 22:01:53 +01:00
Roman ad978c642f estimator interface: 
added flag for in_air status of vehicle
 2016-02-14 20:43:22 +01:00
Roman ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Paul Riseborough 7de1d39ce4 EKF: Improve use of position and velocity observation noise parameters 
Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
 2016-02-03 18:15:38 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator 8200ef4d17 EKF: allocate and unallocate buffer more robustly 2016-01-31 00:12:16 -08:00
bugobliterator c6249a2825 EKF: change estimator base class name to estimation interface 2016-01-31 00:12:07 -08:00