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Code Pull Requests Activity
174 Commits 514 Branches 136 Tags 234 MiB
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174 Commits

Author SHA1 Message Date
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 380db7ebef EKF: Reset angle error covariance after yaw and mag field reset 
The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
 2016-02-25 08:16:42 +11:00
Paul Riseborough e938475acc Merge pull request #59 from PX4/pr-ImprovedStartup 
Improvements to EKF startup - partially replaces PR#57
 2016-02-24 18:27:12 +11:00
Paul Riseborough 0ad5329caf EKF: Update comments in heading fusion to clarify calculation of magnetic heading 2016-02-24 12:06:11 +11:00
Paul Riseborough 36affe3cd8 EKF: Fix bug causing incorrect initial roll when inverted 2016-02-24 11:56:12 +11:00
Paul Riseborough 016695fc3e EKF: Reduce startup transients 
Update initial state variance values
 2016-02-24 11:48:42 +11:00
Siddharth Bharat Purohit 9c7a3f366c Merge pull request #54 from mcsauder/master 
Address C99 compatibility issues by relocating variable initialization. - Replaces PR#50
 2016-02-23 15:53:04 -08:00
mcsauder 6613335937 Added constexpr back from const var type. 2016-02-23 16:15:52 -07:00
mcsauder 342010c113 Update c style array initialization to attempt to pass Travic CI build tests. 2016-02-23 15:52:02 -07:00
mcsauder 48e80e9e3e Correct C style array initialization. 2016-02-23 15:16:40 -07:00
mcsauder f9f00fa52b Remove unnecessary include. 2016-02-23 14:00:39 -07:00
mcsauder ccb5736353 Spaces to tab. 2016-02-23 19:58:30 -07:00
mcsauder a4cecb1704 Match variable initialization order difference with upstream. 2016-02-23 19:57:27 -07:00
mcsauder 79d07c831f Convert spaces to tabs to match upstream. 2016-02-23 19:53:55 -07:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
Siddharth Bharat Purohit 237ecfef1a Add travis build check badge 2016-02-22 23:49:58 -08:00
Roman Bapst 8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
Paul Riseborough 35865048a2 Merge pull request #55 from PX4/pr-FixYawFusionBug 
Fix bug in heading fusion and add new method for ground/indoor use
 2016-02-21 09:41:18 +11:00
Paul Riseborough 70a3b91217 EKF: Update magnetometer fusion derivations 2016-02-20 20:09:15 +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
mcsauder 4ce4724105 Added variable initializations back into EstimatorInterface() constructor to resolve a runtime error that occurs with uninitialized variables. 2016-02-19 23:57:06 -07:00
Paul Riseborough 6df6ac0023 EKF: Fix sign error in heading innovation calculation and clean up 2016-02-20 11:54:53 +11:00
Paul Riseborough 90e1bd3e36 EKF: wrap compass yaw estimate 2016-02-19 16:53:55 +11:00
Paul Riseborough 7d6226eb45 EKF: Improve efficiency of yaw angle fusion 
Use direct calculation of Kaman gains with optimised algebra
 2016-02-19 16:25:01 +11:00
Paul Riseborough 7f121e81e4 EKF: Update yaw innovation calculation to match revised derivation 
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
 2016-02-19 16:18:07 +11:00
mcsauder 72243c4a84 Resolve tab/space differences with upstream master. 2016-02-18 03:28:40 -07:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
Lorenz Meier 2b2c490382 Validator: Add function for 1D use of the 3D validator 2016-02-18 09:31:36 +01:00
bugobliterator ba7f0fc9ff EKF: add licensing information for mathlib header and src 2016-02-17 20:02:08 -08:00
bugobliterator 80632cc12c EKF: add comments and licensing information to builder files 2016-02-17 19:55:47 -08:00
bugobliterator e65c348905 EKF: add travis build 2016-02-17 18:51:40 -08:00
bugobliterator a40eb7cf37 EKF: add check for existence of matrix submodule 2016-02-17 17:51:09 -08:00
Siddharth Bharat Purohit 64a7b14171 update readme to include steps to build EKF shared object 2016-02-17 17:46:48 -08:00
bugobliterator cba5271785 add matrix submodule 2016-02-17 17:38:21 -08:00
bugobliterator 2f05f778de ignore build directory 2016-02-17 17:34:28 -08:00
bugobliterator 263c48d089 EKF: remove dependecies and allow ekf to be built as standalone shared lib 2016-02-17 17:33:18 -08:00
Paul Riseborough 96c0e18acb Merge pull request #49 from PX4/pr-fixMagCovariance 
EKF: Fix magnetometer fusion and covariance handling
 2016-02-18 10:22:36 +11:00
Roman Bapst 678d6f45cc Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix 
EKF: fix time of sample receive setting
 2016-02-17 22:34:30 +01:00
bugobliterator 2096e24c06 EKF: fix time of sample receive setting 2016-02-17 13:29:12 -08:00
Paul Riseborough a679cdf1fb EKF: Change parameter default to not fuse declination when aiding 
Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
 2016-02-17 17:22:02 +11:00
Paul Riseborough abf9476853 EKF: miscellaneous formatting and typo updates 2016-02-16 11:08:30 +11:00
Paul Riseborough ffe1d30864 EKF: Set covariances to zero for un-used states 2016-02-16 11:08:30 +11:00
Paul Riseborough 294aca8609 EKF: Improve variance limiting for stationary states 
Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
 2016-02-16 11:08:30 +11:00
Paul Riseborough 1d40507af8 EKF: Set Kaman gains to zero for un-used states 
This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
 2016-02-16 11:08:30 +11:00
Paul Riseborough 69b8982043 EKF: Initialise variances to zero for un-used states 
Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
 2016-02-16 11:08:30 +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 402206a305 EKF: Fix critical bug in fusion of yaw and declination observations 
This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
 2016-02-16 11:08:30 +11:00
Paul Riseborough d8afca5e7a EKF derivations: Correct error in direct yaw and declination angle fusion 
The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
 2016-02-16 11:08:30 +11:00