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Code Pull Requests Activity
440 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

46 Commits

Author SHA1 Message Date
Paul Riseborough b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough f4a0f69f6e EKF: print to console when starting EV fusion 2016-05-14 21:17:29 +10:00
Paul Riseborough ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
Paul Riseborough e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough 37a09c61bc EKF: Don't use delayed data to start EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 161ac2e051 EKF: ensure position co-variances are reset 
When transitioning into optical flow nav  from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
 2016-05-08 18:03:09 +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 25682dce91 EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow 2016-05-08 10:30:40 +10:00
Paul Riseborough da9d894441 EKF: Improvements to covariance reset 2016-05-07 12:57:41 +10:00
Paul Riseborough a7d08d08fc EKF: Relax tilt alignment check 2016-05-05 21:23:03 +10:00
Paul Riseborough 727a43764f EKF: update initial angle alignment check 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 3e81b86280 EKF: improve height reset logic 
Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
 2016-04-22 10:50:53 +10:00
Paul Riseborough 874558d194 EKF: improve detection of bad vert accel data 
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
 2016-04-22 09:24:04 +10:00
Paul Riseborough e3365525c2 EKF: rework height reset logic 2016-04-22 08:39:24 +10:00
Paul Riseborough a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 006b6b58e4 EKF: fix bug in status print statement 2016-04-12 10:38:50 +10:00
Lorenz Meier f86ef34782 EKF: Fix error message which lied 2016-04-05 19:06:35 -07:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough d2407c3463 EKF: code style updates 2016-03-13 21:17:51 +11:00
Paul Riseborough c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough 370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Paul Riseborough 109e0e6dfc EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Roman Bapst b2744f965d use in_air flag from land detector to determine if we are on the ground 2016-03-03 10:53:39 +01:00
Paul Riseborough d8627c6aaf EKF: Reset the vertical position states if height fusion times out 2016-03-02 08:39:07 +01:00
Paul Riseborough d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
Paul Riseborough 7c83ac4b6d EKF: Use heading fusion as default for startup and ground operation 2016-03-01 15:35:17 +11:00
Paul Riseborough 5b5bddebea EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode 2016-02-25 08:16:42 +11:00
Paul Riseborough 2d09a5f3ac EKF: Don't reset yaw and mag field states when not necessary 2016-02-25 08:16:42 +11:00
Paul Riseborough a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
Paul Riseborough d9bf4e9870 EKF: Enable control mode transitions to be detected 
Save the previous value of the filter control modes
 2016-02-16 11:08:30 +11:00
Paul Riseborough 7da40a45a4 EKF: Add control mode for wind state estimation 2016-02-16 11:08:30 +11:00
Paul Riseborough dba58aa4c6 EKF: Add control logic for fusion modes 2016-02-14 22:01:53 +01:00
Paul Riseborough 22c177c951 EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode 2016-02-14 22:01:53 +01:00
Paul Riseborough c089079321 EKF: Split tilt and yaw align 2016-02-14 22:01:53 +01:00
Paul Riseborough 020cc5978e EKF: Move calculation of declination into a separate function 2016-02-14 22:01:53 +01:00
Paul Riseborough 5ea0ef39cd EKF: Update declination fusion logic 
We do not need to run declination fusion if 3-axis mag fusion is not being used.
 2016-02-09 07:54:24 +11:00
Paul Riseborough 47ab5ebcdd EKF: Make PR comply with project convention for indenting 2016-02-08 15:12:38 +11:00
Paul Riseborough cdc42c1de0 EKF: Add simple control logic for magnetic declination constraint 2016-02-08 14:18:43 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
Paul Riseborough 466a104534 EKF: additional GPS check logic 
Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
 2016-01-30 12:21:39 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00