16 Commits

Author	SHA1	Message	Date
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