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246 Commits

Author SHA1 Message Date
Paul Riseborough a22886544d EKF: Add missing Kalman gain to Declination fusion autocode 2016-02-08 14:02:08 +11:00
Paul Riseborough 2c8c6efb45 EKF: Eliminate use of power function to square numbers 
Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function  that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
 2016-02-08 11:11:59 +11:00
Paul Riseborough 42a943b37e EKF: Fix text errors introduced when editing optical flow fusion autocode fragment 2016-02-07 21:49:50 +11:00
Paul Riseborough f99256286b Merge pull request #40 from PX4/pr-updateOpticalFlowAutoCode 
Update EKF Optical Flow Fusion Autocode Fragments
 2016-02-07 19:35:38 +11:00
Paul Riseborough 384ce06110 EKF: Add alternative code fragments for optical flow fusion 
These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
 2016-02-07 19:31:13 +11:00
Paul Riseborough dba462b9f3 EKF: Improve efficiency of optical flow fusion auto generated code fragments 2016-02-07 19:29:49 +11:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Paul Riseborough 9bfc11b660 EKF: Use specific position observation noise when flying without GPS 
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
 2016-02-03 18:40:32 +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
Paul Riseborough 2b1e8fe910 EKF: Update tuning parameters 
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
 2016-02-03 17:05:45 +11:00
Lorenz Meier b21a49b3f9 EKF: Use standard C++ initializers 2016-01-31 23:24:36 +01:00
Roman b749a7557b fixed typos 2016-01-31 21:36:58 +01:00
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
bugobliterator 3cafedd4c1 EKF: start storing samples only when ekf is initialised 2016-01-30 12:46:01 -08:00
bugobliterator b062bd2e38 EKF: move estimator specific variables to estimator core 2016-01-30 12:45:23 -08:00
bugobliterator 287f5eb0c2 EKF: move all estimator specific types to common header 2016-01-30 12:44:19 -08:00
bugobliterator b05e2d825c EKF: move estimator specific initialisations to estimator core 2016-01-30 12:42:24 -08:00
Paul Riseborough f1b82057c0 EKF: Combine GPS velocity innovation gate parameters 
Separate vertical and horizontal parameters for GPS velocity innovation gates are not required
 2016-01-30 12:21:50 -08:00
Paul Riseborough 466a104534 EKF: additional GPS check logic 
Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
 2016-01-30 12:21:39 -08:00
bugobliterator a779d45cd0 ekf2: fix bug causing faulty imu data storage 2016-01-29 23:56:24 -08:00
bugobliterator 92dc41e885 EKF: fix typo in function declaration 2016-01-29 20:05:07 -08:00
bugobliterator 3eea6cdcc5 EKF: use namespace for structure definitions 
will be moved to a separate file in the future
 2016-01-29 20:04:21 -08:00
bugobliterator 001d621eb1 EKF: move imu data processing code to estimator core 2016-01-29 20:03:25 -08:00
bugobliterator 251996d387 ekf: move gps checks to Ekf library from estimator_base 2016-01-29 17:15:18 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00
Paul Riseborough 9236f11c80 EKF: Add position and velocity innovation consistency checks 2016-01-28 16:33:54 +11:00
Paul Riseborough 7713cc8c20 Merge pull request #17 from priseborough/pr-addMagErrHandling 
EKF: Add magnetometer fusion error handling
 2016-01-28 13:43:57 +11:00
Lorenz Meier f4b2c0eecf Merge pull request #11 from mcharleb/PRIu64-fix 
Fixed printf of uint64_t
 2016-01-28 01:01:10 +01:00
Paul Riseborough 802129f384 EKF: Add magnetometer fusion error handling 2016-01-28 09:53:55 +11:00
Paul Riseborough 39eef3a2d7 EKF: Remove use of camel case variable names 
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
 2016-01-28 08:37:45 +11:00
Paul Riseborough cc50d26601 EKF: Update comments 2016-01-28 08:13:38 +11:00
Paul Riseborough 4526cb9c4f EKF: remove redundant variable 2016-01-28 07:50:45 +11:00
Paul Riseborough 6326433c47 EKF: Eliminate call to hrt_absolute_time() 
This will make the library more portable
 2016-01-27 19:04:31 +11:00
Paul Riseborough 94a6644684 Add comprehensive user selectable GPS checks 2016-01-25 13:07:57 +11:00
Roman 8d0022ab1e enable estimator state and innovations data logging 2016-01-22 11:31:14 +01:00
Roman 86df68e404 added interface for parameters 2016-01-22 10:45:03 +01:00
Roman Bapst 9b7afa2600 Merge pull request #12 from nickolasrossi/master 
fix buffer overflow in constrain of wind velocity
 2016-01-20 07:27:00 +01:00
nickolasrossi dfbbd36ff7 fix buffer overflow in constrain of wind velocity 2016-01-19 18:25:22 -08:00
Mark Charlebois 79bf35c4b3 Fixed printf of uint64_t 
Must use PRIu64 to prevent compiler errors.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-18 22:19:10 -08:00
Roman Bapst 2c80614e20 Merge pull request #10 from PX4/delta_ang_bias_fix 
fix delta angle bias usage:
 2016-01-14 17:10:47 +01:00
Roman 0b5c90574c fix delta angle bias usage: 
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
 2016-01-14 17:06:02 +01:00
Roman Bapst 749156d4aa Merge pull request #7 from PX4/ekf2_fixes 
Ekf2 fixes
 2016-01-08 07:09:01 +01:00
Roman 2af5856361 initialise output height with baro 2016-01-08 06:59:10 +01:00
Roman a41f75ffb1 use full mag fusion 2016-01-08 06:59:10 +01:00
Roman f8354bb5e9 - do not fake vertical gps measurement as we have baro 
- formatting

Conflicts:
	EKF/ekf.cpp
 2016-01-08 06:59:10 +01:00
Roman 2a88fc6cfd initialise vertical position correctly 2016-01-08 06:42:22 +01:00
Roman 5aa5f7f8c3 use correct timestamp for measurements 2016-01-08 06:42:03 +01:00
Lorenz Meier b542e2b49b Merge pull request #6 from mcharleb/hexagon_support 
Added hexagon support
 2016-01-08 00:37:32 +01:00