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406 Commits

Author SHA1 Message Date
Paul Riseborough 3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00
Paul Riseborough 081e17729c EKF: delay commencement of 3D mag fusion until clear of ground 
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
Paul Riseborough f08aee0a7d EKF: Fix covariance index bug 2016-06-04 00:36:07 +10:00
Julian Oes b8e2f79005 EKF: correct include paths 2016-06-02 16:29:22 +01:00
Julian Oes ecfd8c867a EKF: use ECL printfs everywhere 
- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
 2016-06-02 16:07:26 +01:00
Paul Riseborough 6a55d908c5 EKF: replace reset event times with event counters 
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
Paul Riseborough 70f76e1a6c EKF: publish innovation consistency check fail status 2016-06-01 17:13:00 +10:00
Paul Riseborough e371a303a9 EKF: publish the quaternion reset event 2016-06-01 17:13:00 +10:00
Paul Riseborough 81ca167da8 EKF: align output observer to EKF states on startup 2016-06-01 17:13:00 +10:00
Paul Riseborough 3ec9221c18 EKF: update output observer and capture reset event for EV yaw resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 9ec09f5f4e EKF: update output observer and capture reset event for magnetic heading resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 2b0d5c28f0 EKF: capture full quaternion change for reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough b2e432e211 EKF: publish position and velocity reset data 2016-06-01 17:13:00 +10:00
Paul Riseborough 733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough aca0336392 EKF: update vertical position and velocity reset capture 
Use reset event struct members instead of separate variables
 2016-06-01 17:13:00 +10:00
Paul Riseborough 0605c88ecc EKF: capture horizontal position reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough e3a1b4a3b3 EKF: capture velocity reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough 4237269fab EKF: add struct to capture state reset events 2016-06-01 17:13:00 +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 79705da7e6 EKF: make output predictor states consistent with position reset 2016-06-01 17:13:00 +10:00
Paul Riseborough 54d90261d5 EKF: make output predictor states consistent with velocity reset 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 d80e71a499 EKF: capture HAGL innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough 8125717bf5 EKF: remove un-used airspeed health class variable 
Airspeed rejection now is captured in _sensor_fault_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough 388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough cf489f4248 EKF: capture airspeed innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough e7690bd8f8 EKF: capture magnetometer innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough 3fb449295e EKF: capture yaw innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough 52f6eea52b EKF: capture position and velocity innovation test failures 2016-06-01 17:13:00 +10:00
Paul Riseborough aea827aa8a EKF: ensure filter fault status is initialised 2016-06-01 17:13:00 +10:00
Paul Riseborough 106482b078 EKF: add structure to capture innovation test failures and state resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 70c40d695d EKF: Initialise alignment noise filters using valid data 
Don't initialise the states for the alignment data noise filters until the buffers have been flushed
 2016-05-28 09:04:26 +10:00
Paul Riseborough c905684c12 EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment 2016-05-28 08:28:57 +10:00
Paul Riseborough ad02818b3d EKF: Improve height reset for external vision 
reset to measurement closest in time to fusion time horizon
 2016-05-27 14:00:50 +10:00
Paul Riseborough 98c0b74a71 EKF: Initialise height correctly when using external vision data 
If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
 2016-05-27 13:59:14 +10:00
Paul Riseborough 9f81b8f09e EKF: provide reset protection for external vision height 2016-05-27 13:15:53 +10:00
Paul Riseborough 1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Paul Riseborough 00bada8f25 EKF: Clean up logic for horizontal position fusion 
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
 2016-05-27 11:29:10 +10:00
Paul Riseborough 6f412a73b4 EKF: Use correct height gate when using external vision 2016-05-27 11:24:53 +10:00
Paul Riseborough e41524ac9d EKF: remove unused variables 2016-05-27 11:21:04 +10:00
Paul Riseborough 7dd123094f EKF: correct documentation 2016-05-26 21:42:56 +10:00
Paul Riseborough d5b5cb5899 EKF: improvements to observation collection 
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
 2016-05-26 13:27:08 +10:00
Paul Riseborough e2d9e19a5d Merge pull request #148 from PX4/pr-ekf2OutputPredictor 
EKF2 provide alternative output velocity prediction
 2016-05-24 08:46:33 +10:00
Paul Riseborough 5a40aa2c1a EKF: prevent unwanted GPS use 2016-05-24 07:55:09 +10:00
Paul Riseborough 90d65071c1 EKF: Add output predictor processing option 
Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.

This may improve height controller performance under some circumstances
 2016-05-23 07:47:10 +10:00
Paul Riseborough 30917430e2 EKF: inline ring buffer functions used repeatedly 
These functions get called 30 times each per output prediction cycle
 2016-05-23 07:43:59 +10:00
Paul Riseborough c8c2d6d963 Merge pull request #145 from CarlOlsson/small_fix 
Deleted second update of transformation matrix
 2016-05-23 07:40:58 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Carl Olsson dbe2513d48 updated logic of calculation of body field variance (#146) 2016-05-22 17:39:25 +02:00
CarlOlsson eb70aca2e8 deleted second update of transformation matrix 2016-05-22 16:03:30 +02:00