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606 Commits 514 Branches 136 Tags 234 MiB
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18 Commits

Author SHA1 Message Date
Paul Riseborough 1b59a89a18 EKF: save some stack memory 2016-11-02 09:06:06 +01:00
Beat Küng 25cb400da9 EKF: remove Ekf::KHP and move KHP to the methods where it's used 
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
Paul Riseborough 7bc9217f00 EKF: Clean up control of observation fusion 
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
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 52229da089 EKF: capture optical flow innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough 724280fd1f EKF: move calculation of optical flow observation variance into a function 
Allows it to be used when calculating initial state variance
 2016-05-08 15:40:06 +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 7f5669fb2d EKF: consolidate covariance corrections 
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
Paul Riseborough 9e53ff2f80 EKF: Improve protection against bad optical flow fusion 2016-05-07 14:23:56 +10:00
Paul Riseborough da9d894441 EKF: Improvements to covariance reset 2016-05-07 12:57:41 +10:00
Paul Riseborough f4e84a2234 EKF: fix axis label error in comments 2016-05-05 21:23:03 +10:00
Paul Riseborough 82da832816 EKF: tidy up Kalman gain calculations 
Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
 2016-05-05 21:23:03 +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 5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 48f980b054 EKF: Fix syntax causing posix build to fail 2016-03-11 11:03:43 +11:00
Paul Riseborough dd1d58bab5 EKF: Remove unnecessary matrix operations from optical flow fusion 
The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
 2016-03-11 11:03:43 +11:00
Paul Riseborough 122dd9c531 EKF: Add source file for optical flow LOS rate fusion 2016-03-11 11:03:43 +11:00