934890c2df
EKF: Add validity flag to ekf origin reporting
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Flag is false until the origin has been initialised
2016-12-28 00:56:09 +01:00
5205a8198b
added function to control when to fuse beta
2016-11-05 12:19:01 +01:00
8f6c75bb0b
adopted ekf.h
2016-11-05 12:19:01 +01:00
1b59a89a18
EKF: save some stack memory
2016-11-02 09:06:06 +01:00
25cb400da9
EKF: remove Ekf::KHP and move KHP to the methods where it's used
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Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.
This saves 2.3KB RAM.
Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
2016-11-01 22:49:20 +01:00
b10b0184c5
EKF: Add IMU vibration calculation and reporting
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Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
2016-10-19 21:46:55 +11:00
352750e5d1
EKF: publish ekf solution status summary data
2016-10-06 09:02:29 +02:00
744b79c1b2
EKF: Publish innovation test ratios
2016-10-06 09:02:29 +02:00
65762e5998
EKF: publish output predictor tracking errors
2016-10-03 14:13:07 +11:00
c81f9f1dba
EKF: Reduce output predictor tracking errors
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Implements a PI tracking loop
2016-10-03 14:13:07 +11:00
75bec44b94
EKF: add function to initialise wind states
2016-08-11 15:26:21 +02:00
6dff2df28e
EKF: Add method to reset wind state covariances
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Set variances in polar coordinates and rotate into cartesian frame
2016-08-11 15:26:21 +02:00
168d9add76
added getter function for wind states
2016-07-22 12:33:41 +02:00
5f9752cac8
EKF: Improve function names
2016-06-30 17:06:32 +10:00
7bc9217f00
EKF: Clean up control of observation fusion
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All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
2016-06-30 17:06:32 +10:00
bec1a6831e
added method to get gyro bias
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Signed-off-by: Roman Bapst <roman@px4.io>
2016-06-21 14:13:47 +02:00
928a7dd059
Merge pull request #157 from PX4/pr-ekf2ResetInterface
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Change state reset information interface
2016-06-08 14:18:31 +10:00
99b34f0df4
EKF: Only reset necessary terms when mag fusion covariance reset required
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Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
2016-06-08 11:58:33 +10:00
081e17729c
EKF: delay commencement of 3D mag fusion until clear of ground
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Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
2016-06-06 21:59:46 +10:00
670c6ca019
change state reset information interface for more convenient handling
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on firmware side
2016-06-06 13:22:20 +02:00
6a55d908c5
EKF: replace reset event times with event counters
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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
e371a303a9
EKF: publish the quaternion reset event
2016-06-01 17:13:00 +10:00
2b0d5c28f0
EKF: capture full quaternion change for reset events
2016-06-01 17:13:00 +10:00
b2e432e211
EKF: publish position and velocity reset data
2016-06-01 17:13:00 +10:00
733862f649
EKF: move the reset status struct to the Ekf class
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This protects it from being modified externally
2016-06-01 17:13:00 +10:00
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
2016-06-01 17:13:00 +10:00
0fafc49a49
fixed typos ( #147 )
2016-05-22 17:40:43 +02:00
7c158aa59b
Addressed C99 compiler issues of initializing variables in header and unused included statements.
2016-05-19 09:58:18 -06:00
22fba0fc6e
EKF: don't initialise filter without EV data if we are relying on it
2016-05-18 19:25:19 +10:00
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
2016-05-17 12:47:20 +10:00
1540e937b1
EKF: Improve tilt alignment monitoring
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
2016-05-17 11:17:24 +10:00
b985e58333
EKF: clean up control function
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With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
2016-05-14 21:17:29 +10:00
c7e225124c
EKF: Improve output observer position and velocity tracking
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Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
2016-05-14 12:45:29 +09:30
481c624975
EKF: Remove use of vehicle arm status
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Use single externally set in-air status for all decisions
2016-05-10 10:23:08 +10:00
724280fd1f
EKF: move calculation of optical flow observation variance into a function
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Allows it to be used when calculating initial state variance
2016-05-08 15:40:06 +10:00
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
2016-05-08 10:30:40 +10:00
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
f1b7e7714e
EKF: Make average update rate of EKF closer to target
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With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
2016-05-05 21:23:03 +10:00
727a43764f
EKF: update initial angle alignment check
2016-05-05 21:23:03 +10:00
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
4fcbfb5d42
EKF: correct error in comment
2016-04-23 07:55:25 +10:00
874558d194
EKF: improve detection of bad vert accel data
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Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
2016-04-22 09:24:04 +10:00
421703c267
EKF: rework initialisation of height state and offsets
2016-04-22 08:38:41 +10:00
10bf05e9a6
EKF: publish the vertical position offset
2016-04-22 08:30:46 +10:00
0de15b1b20
EKF: Add variables to monitor vertical position and height offset
2016-04-22 08:28:56 +10:00
9487eac505
Merge pull request #98 from priseborough/pr-ekf2StatusReporting
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EKF: improve reporting of filter status
2016-04-20 11:44:02 +02:00
99fc61c27c
ekf2 airspeed fusion:
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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
2016-04-19 09:53:31 +02:00
31bf342fc1
EKF: publish GPS check status
2016-04-19 17:38:22 +10:00
60abf07bee
added function to return accelerometer bias
2016-04-18 17:52:16 +02:00
2dcc6e2053
EKF: Improve accuracy of state prediction
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Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
2016-04-12 11:14:31 +10:00
Paul Riseborough
CarlOlsson
Beat Küng
Youssef Demitri
Roman Bapst
Paul Riseborough
waltjohnson
Lorenz Meier