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707 Commits

Author SHA1 Message Date
Paul Riseborough 279fc836f7 EKF: Always reset covariance matrix terms when doing vel pos state reset 
If state errors were large before the reset, then failure to reset the covariance matrix terms can result in incorrect fusion of position and velocity measurements after the reset due to inconsistencies in the covariance matrix.
 2017-11-13 07:05:56 +11:00
Paul Riseborough 141264fe63 EKF: Add method to set diagonals in covariance matrix 2017-11-13 07:05:56 +11:00
Paul Riseborough 32de90b9ef EKF: Add method to zero covariance terms 2017-11-13 07:05:56 +11:00
Paul Riseborough f3e34eddc9 EKF: do not attempt to align FW yaw using GPS method if on ground 2017-11-13 07:05:56 +11:00
Paul Riseborough 8f27d3fc54 EKF: don't reset quaternion states unnecessarily 
When performing the initial in-flight mag yaw reset for RW vehicle, do not reset the quaternion states and corresponding variances unless there has been a change in yaw angle large enough to cause problems with navigation.
This is because the state estimates after a reset are more vulnerable to transient sensor errors, so a reset should be avoided if possible.
 2017-11-13 07:05:56 +11:00
Paul Riseborough 9e47b6e1b6 EKF: don't reset quaternions unnecessarily 
When performing the initial in-flight magnetic field reset for fixed wing vehicles, resetting the quaternion states and their corresponding covariances should be avoided unless yaw errors are large, because state estimates are vulnerable to transient sensor errors immediately following a reset.
 2017-11-13 06:55:02 +11:00
Paul Riseborough 29d383edbf EKF: Allow mag field estimates to stabilise before use 2017-11-13 06:55:02 +11:00
Paul Riseborough 363edf5eb9 EKF: Fix yaw reset for fixed wing 
Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
 2017-11-13 06:55:02 +11:00
Paul Riseborough 7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat 
EKF: Enable operation with arbitrary External Vision reference frame
 2017-11-12 08:35:39 +11:00
Paul Riseborough 5fd006ca48 EKF: remove redundant code 2017-11-11 07:06:01 +11:00
ChristophTobler e388e59f32 EKF: use uint64_t cast for XeY to avoid float casting of variables 
The default type for XeY is float
 2017-11-08 11:40:26 +01:00
Paul Riseborough bba3f70a0e EKF: reduce prediction time step from 12 to 8 sec 
Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
 2017-11-02 09:27:33 +01:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
Paul Riseborough 063533afae EKF: Add method to enable the IMU bias states to be reset externally 2017-10-26 10:41:39 +11:00
Paul Riseborough cd2ca57ec2 Merge pull request #339 from PX4/ekfPosCtrlLimits-wip 
Ekf pos ctrl limits wip
 2017-10-23 06:57:23 +11:00
Paul Riseborough 79995b2c15 Create total energy control system implementation 
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
 2017-10-22 20:37:40 +02:00
Paul Riseborough e10ec59058 EKF: Use consistent test for navigation validity reporting 
This will enable controller to take advantage of non-inertial dead reckoning.
 2017-10-20 14:44:38 +11:00
Paul Riseborough 19074fdd9e EKF: Use consistent time limit for inertial dead reckoning test 2017-10-20 14:44:38 +11:00
Paul Riseborough 55a2dc94df EKF: handle air data fusion covariance reset consistently 
Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
 2017-10-20 14:44:37 +11:00
Paul Riseborough 0d32128701 EKF: Use dead-reckoning status to determine if air data should modify non-wind states 2017-10-20 14:44:37 +11:00
Paul Riseborough e4ffe199ed EKF: fix bug in sideslip fusion activation 2017-10-20 14:44:37 +11:00
Paul Riseborough 59f1c3e19e EKF: Update dead-reckoning definition 
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
 2017-10-20 14:44:37 +11:00
Paul Riseborough a2dcd5b9b6 EKF: Consolidate no aiding reset logic 2017-10-20 14:44:37 +11:00
Paul Riseborough 929c5c2b37 EKF: enable gps fusion flag to be false while fusing air data 2017-10-20 14:44:37 +11:00
Paul Riseborough 204a218ee6 EKF: Allow dead-reckoning using air data 2017-10-20 14:22:06 +11:00
ChristophTobler f5fd90533a fix gps and flow flag handling 
gps flag was not turning false if there was flow

only reset states if we were relying on that sensor only
 2017-10-20 14:22:06 +11:00
Paul Riseborough 9857fb9eb6 EKF: publish control limits for optical flow navigation 2017-10-20 14:22:06 +11:00
CarlOlsson 2e03084d34 EKF: If aligning yaw for fw with low GPS velocity, use mag 2017-10-19 16:49:54 +02:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
CarlOlsson 8c83167857 EKF: fixed comment 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 11:41:55 +02:00
Paul Riseborough 32b795ee10 EKF: Add readme file to EKF documentation directory 2017-10-13 21:46:41 +11:00
Paul Riseborough 8dd4800a2c EKF: Add preliminary documentation for filter mathematics 2017-10-13 21:34:49 +11:00
Paul Riseborough dbff89fbcb EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW 2017-10-12 19:54:35 +11:00
Paul Riseborough 6f7f05fdc0 EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place 2017-10-12 14:50:23 +11:00
Paul Riseborough e834522f62 EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic 2017-10-12 14:50:23 +11:00
Paul Riseborough 7b4c957ad4 ekf2: Add new mag fusion mode 
Adds a mode where mag fusion is only used update the field estimates
 2017-10-12 14:50:23 +11:00
Paul Riseborough 9c65968c3d Merge pull request #334 from PX4/pr-ekf_minor_flow_fix 
ekf: fix optical flow bugs
 2017-10-12 09:14:29 +11:00
Paul Riseborough 68bad48598 Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var 
EKF: added get_wind_velocity_var function
 2017-10-12 09:12:54 +11:00
Paul Riseborough 4db23b7b2e EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks 2017-10-12 08:26:04 +11:00
Paul Riseborough 1119a9b0ac EKF: Enable optical flow reversion to work if flow data is lost 
Also improve reporting.
 2017-10-12 08:02:54 +11:00
ChristophTobler cdf6e6cd36 EKF: use delta_time to avoid division by zero 2017-10-11 15:15:06 +02:00
Paul Riseborough d293c4231d EKF: Protect against divide by zero caused by invalid optical flow 2017-10-11 21:54:47 +11:00
Paul Riseborough ab9b8e1964 EKF: Prevent bad optical flow quality causing loss of aiding when on ground 2017-10-11 21:22:33 +11:00
ChristophTobler b7e589b98a EKF: only fuse optical flow if terrain is valid 2017-10-10 17:51:56 +02:00
ChristophTobler 81a64c0479 ekf: fix flow direction when on ground 2017-10-10 14:39:44 +02:00
ChristophTobler 6cb99ce8a8 ekf: add function to get in air status 2017-10-03 22:36:33 +02:00
CarlOlsson 8200e4b218 EKF: added get_wind_velocity_var function 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-02 14:47:56 +02:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough 160e4d69c1 Merge pull request #323 from PX4/pr-ekfQuatMultOrder 
EKF: use hamiltonian convention for quaternion multiplication order
 2017-09-21 07:49:35 +10:00
Paul Riseborough 1d3e8edc46 EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation 2017-09-14 18:34:11 +10:00