d07692e87e
Merge pull request #204 from PX4/pr-gpsReset
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ekf reset: more granular reset / timeout strategy for gps fusion
2016-10-26 06:52:10 +11:00
79df7e8889
EKF: Reduce effect of bad airspeed when other aiding data available
2016-10-25 08:34:41 +02:00
968cfae632
EKF: Fix bug preventing fallback from GPS mode if GPS is lost
2016-10-25 08:32:01 +11:00
63cf3d50be
ekf gps reset: do not bother checking for need of reset if gps is not
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available
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-24 11:45:36 +02:00
c5f750dcca
ekf reset: more granular reset / timeout strategy for gps fusion
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- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-24 11:40:12 +02:00
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
17c195d1cd
ekf2 height reset: do not apply height change to height state twice (bug)
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-18 07:58:19 +02:00
1093e6d789
EKF: fix documentation error
2016-10-13 22:37:14 +02:00
f80b3481a4
reset the newest output sample for all possible resets
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-12 08:54:38 +02:00
238d947239
proper handling of position and velocity reset
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- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution
Signed-off-by: Roman <bapstroman@gmail.com>
2016-10-12 08:54:38 +02:00
79b1d3018d
EKF: Fix magnetometer innovation test ratio reporting bug
2016-10-12 08:51:45 +02:00
352750e5d1
EKF: publish ekf solution status summary data
2016-10-06 09:02:29 +02:00
007e73379f
EKF: Improve reporting of position error
2016-10-06 09:02:29 +02:00
744b79c1b2
EKF: Publish innovation test ratios
2016-10-06 09:02:29 +02:00
5ab90048e1
Merge pull request #184 from PX4/pr-rngDelayFix
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fixed computation of range measurement timestamp
2016-10-04 09:13:19 +11:00
b29174d86b
Merge pull request #193 from PX4/pr-haglInit
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Pr hagl init
2016-10-04 08:21:15 +11:00
b5ba4f280f
EKF: reduce output predictor velocity time constant
2016-10-03 14:13:07 +11:00
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
616aeb9ad7
ekf_helper: fix forgotten return value
2016-09-27 16:36:29 +02:00
fd403b733d
CMakeLists: don't always optimize for size
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Going forward the optimization flags should be set for a platform,
rather than for each individual module.
2016-09-27 16:35:35 +02:00
c6e1d97176
terrain estimator: initialise with projection
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-09-20 14:09:42 +02:00
cc05db4985
terrain estimator: pass initialisation return value correctly
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-09-20 14:07:50 +02:00
d53f532079
fixed computation of range measurement timestamp
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Signed-off-by: Roman <bapstroman@gmail.com>
2016-09-17 11:41:12 +02:00
8d60da1442
removed old wind initialization
2016-08-11 15:26:21 +02:00
51c8715638
fixed issue with airspeed never fused
2016-08-11 15:26:21 +02:00
d1d56d9e5e
EKF: Add logic to to control wind state estimation
2016-08-11 15:26:21 +02:00
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
a9894d7e8c
EKF: improve efficiency of airspeed fusion
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Don't compute array entries where the result will be zero
2016-08-11 15:26:21 +02:00
df0f8fed45
fixed wrong condition on which gps height would be fused ( #180 )
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- this solves the issue where height innovations would jump
between two regimes
Signed-off-by: Roman <bapstroman@gmail.com>
2016-08-05 14:45:48 +02:00
168d9add76
added getter function for wind states
2016-07-22 12:33:41 +02:00
73b8ac954d
ekf_helper.cpp: remove unused includes
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This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
2016-07-15 12:50:11 +02:00
2240eb6b4f
Move __STDC_FORMAT_MACROS to build system ( #174 )
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__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.
Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
2016-07-10 16:29:51 +02:00
a2d866520a
EKF: perform innovation check in all axes before fusing 3D mag data ( #171 )
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Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
2016-07-07 16:46:30 +02:00
f5e9ea1626
EKF: Prevent potential divide by zero
2016-06-30 17:06:32 +10:00
eb2afc522d
EKF: fix bug preventing use of baro as a backup height source
2016-06-30 17:06:32 +10:00
573f252b73
EKF: fix bug preventing GPS use as a backup height source
2016-06-30 17:06:32 +10:00
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
9a95898414
gps_message: remove time_usec_vel from struct (unused)
2016-06-27 10:12:23 +02:00
1b394460a3
fix comment about filter bias states
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Signed-off-by: Roman Bapst <roman@px4.io>
2016-06-21 14:13:47 +02:00
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
703fb4e31b
do not return early in velocity reset method otherwise
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some code will not be executed
2016-06-08 07:51:18 +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
2024252d65
Merge pull request #158 from CarlOlsson/act_ars_off_by_default
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activate tas fusion, off by default
2016-06-08 14:17:31 +10:00
f26aca55a1
EKF: Fix bug in quaternion covariance initialisation function
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The covariances between quaternion and non-quaternion states were not being updated
2016-06-08 13:23:30 +10:00
b3baab64f2
EKF: Updates to 3-axis mag fusion auto-code
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The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
2016-06-08 12:56:59 +10:00
21168f9929
EKF: fix bug in 3-axis mag fusion innovation test
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The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
2016-06-08 11:58:33 +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
Paul Riseborough
Paul Riseborough
Roman
Julian Oes
CarlOlsson
Youssef Demitri
Beat Küng
Lucas De Marchi
Roman Bapst
Roman