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587 Commits 514 Branches 136 Tags 234 MiB
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587 Commits

Author SHA1 Message Date
Paul Riseborough 97df006a6a EKF: Update direct heading fusion 
Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
 2016-03-01 15:25:22 +11:00
Paul Riseborough ea29e39e5b EKF: Updated derivation of Jacobians for direct heading measurement 
Adds an alternative using a 312 Euler sequence.
 2016-03-01 15:21:36 +11:00
Paul Riseborough 2c9a814de1 Merge pull request #64 from mcsauder/master 
Additional filter variable initializations required to fully reset the filter variables
 2016-02-26 23:06:56 +11:00
Paul Riseborough 78d6f6941c Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting 
EKF: Improve Position Accuracy Reporting
 2016-02-26 22:48:44 +11:00
Paul Riseborough f058fc817f Merge pull request #63 from PX4/att_reset 
Attitude reset after heading reset
 2016-02-26 22:35:14 +11:00
mcsauder 5fb48a2e7b Merge remote-tracking branch 'upstream/master' 2016-02-25 22:51:58 -07:00
mcsauder 5fec0df70d Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization. 2016-02-25 22:51:14 -07:00
Roman Bapst 9192ced7bb do not reset output attitude state after heading reset to avoid jumps in attitude 2016-02-25 18:20:29 +01:00
Lorenz Meier cd5857e900 Add vibration magnitude estimation 2016-02-25 16:54:24 +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
Paul Riseborough 5483e7a477 Merge pull request #60 from PX4/pr-ReduceMagModeSwitchKick 
EKF: Fix Bug Causing Roll/pitch Disturbances On Mag Fusion Mode Switch
 2016-02-25 09:42:18 +11:00
Paul Riseborough f55a0bff53 EKF: Fix code style 2016-02-25 08:17:50 +11:00
Paul Riseborough 5b5bddebea EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode 2016-02-25 08:16:42 +11:00
Paul Riseborough 2d09a5f3ac EKF: Don't reset yaw and mag field states when not necessary 2016-02-25 08:16:42 +11:00
Paul Riseborough 380db7ebef EKF: Reset angle error covariance after yaw and mag field reset 
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
 2016-02-25 08:16:42 +11:00
Paul Riseborough e938475acc Merge pull request #59 from PX4/pr-ImprovedStartup 
Improvements to EKF startup - partially replaces PR#57
 2016-02-24 18:27:12 +11:00
Paul Riseborough 0ad5329caf EKF: Update comments in heading fusion to clarify calculation of magnetic heading 2016-02-24 12:06:11 +11:00
Paul Riseborough 36affe3cd8 EKF: Fix bug causing incorrect initial roll when inverted 2016-02-24 11:56:12 +11:00
Paul Riseborough 016695fc3e EKF: Reduce startup transients 
Update initial state variance values
 2016-02-24 11:48:42 +11:00
Siddharth Bharat Purohit 9c7a3f366c Merge pull request #54 from mcsauder/master 
Address C99 compatibility issues by relocating variable initialization. - Replaces PR#50
 2016-02-23 15:53:04 -08:00
mcsauder 6613335937 Added constexpr back from const var type. 2016-02-23 16:15:52 -07:00
mcsauder 342010c113 Update c style array initialization to attempt to pass Travic CI build tests. 2016-02-23 15:52:02 -07:00
mcsauder 48e80e9e3e Correct C style array initialization. 2016-02-23 15:16:40 -07:00
mcsauder f9f00fa52b Remove unnecessary include. 2016-02-23 14:00:39 -07:00
mcsauder ccb5736353 Spaces to tab. 2016-02-23 19:58:30 -07:00
mcsauder a4cecb1704 Match variable initialization order difference with upstream. 2016-02-23 19:57:27 -07:00
mcsauder 79d07c831f Convert spaces to tabs to match upstream. 2016-02-23 19:53:55 -07:00
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
Siddharth Bharat Purohit 237ecfef1a Add travis build check badge 2016-02-22 23:49:58 -08:00
Roman Bapst 8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
Paul Riseborough 35865048a2 Merge pull request #55 from PX4/pr-FixYawFusionBug 
Fix bug in heading fusion and add new method for ground/indoor use
 2016-02-21 09:41:18 +11:00
Paul Riseborough 70a3b91217 EKF: Update magnetometer fusion derivations 2016-02-20 20:09:15 +11:00
Paul Riseborough a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
mcsauder 4ce4724105 Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables. 2016-02-19 23:57:06 -07:00
Paul Riseborough 6df6ac0023 EKF: Fix sign error in heading innovation calculation and clean up 2016-02-20 11:54:53 +11:00
Paul Riseborough 90e1bd3e36 EKF: wrap compass yaw estimate 2016-02-19 16:53:55 +11:00
Paul Riseborough 7d6226eb45 EKF: Improve efficiency of yaw angle fusion 
Use direct calculation of Kaman gains with optimised algebra
 2016-02-19 16:25:01 +11:00
Paul Riseborough 7f121e81e4 EKF: Update yaw innovation calculation to match revised derivation 
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
 2016-02-19 16:18:07 +11:00
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
Lorenz Meier 2b2c490382 Validator: Add function for 1D use of the 3D validator 2016-02-18 09:31:36 +01:00
bugobliterator ba7f0fc9ff EKF: add licensing information for mathlib header and src 2016-02-17 20:02:08 -08:00
bugobliterator 80632cc12c EKF: add comments and licensing information to builder files 2016-02-17 19:55:47 -08:00
bugobliterator e65c348905 EKF: add travis build 2016-02-17 18:51:40 -08:00
bugobliterator a40eb7cf37 EKF: add check for existence of matrix submodule 2016-02-17 17:51:09 -08:00
Siddharth Bharat Purohit 64a7b14171 update readme to include steps to build EKF shared object 2016-02-17 17:46:48 -08:00
bugobliterator cba5271785 add matrix submodule 2016-02-17 17:38:21 -08:00
bugobliterator 2f05f778de ignore build directory 2016-02-17 17:34:28 -08:00