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1,521 Commits 514 Branches 136 Tags 234 MiB
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22 Commits

Author SHA1 Message Date
Daniel Agar 600240d95f EKF: resetGpsAntYaw() fix double promotion 2020-05-20 12:44:18 -04:00
Kamil Ritz 21f49c22dc Use resetQuatStateYaw during gps yaw reset 2020-05-20 08:52:52 +02:00
kritz 24f2e60b7e
Reduce stored strings, to save flash space (#815) 2020-05-13 08:09:26 +02:00
bresch edc8a88c24 yaw_fusion: remove useless initialization 2020-05-08 16:55:23 +02:00
bresch 81c6d6655f ekf: clean uncorrelateQuatStates function 
As the name can be ambiguous, it gets renamed
"uncorrelateQuatFromOtherStates".
Also replace the loops storing the values and reapplying them by simply
zeroing two slices (this also saves 130B of flash).
 2020-02-13 14:33:32 +01:00
kamilritz 4b0e7b2cff Remove filtering on external vision alignment 2020-01-24 08:23:12 +01:00
kamilritz 3daf25763e Remove unnecessary comments 2020-01-08 09:00:31 +01:00
kamilritz 48787c0160 Improve Matrix library usage 2020-01-08 09:00:31 +01:00
kamilritz 9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
Paul Riseborough 0d0f46ec1c EKF: Don't run unnecessary makeRowColSymmetric operation 
This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
 2020-01-02 19:26:57 +11:00
kamilritz 92ba618f57 Improve on flash memory usage 2020-01-02 19:26:57 +11:00
kamilritz 459b76f9fd Make covariance matrices of type matrix::SquareMatrix 
and use functions from Matrix to reset covariances.
 2020-01-02 19:26:57 +11:00
kamilritz 1bf09fd370 Remove EKF prefix from logged messages 2019-12-12 08:48:10 +01:00
Paul Riseborough 36de2b3dc1 EKF: Use matrix library for quaternion to rotation matrix conversion 2019-10-23 14:44:08 +03:00
kritz 4a38f5a2f6 Add timestamp to ECL print statements, (#644) 
which is helpful for EKF replay debugging.
 2019-09-25 11:24:42 +02:00
Paul Riseborough a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Paul Riseborough ef5a87c1d4 EKF: Rework quaternion yaw reset. 
Use a new method that preserves the roll and pitch information and adds the uncertainty for yaw only.
Ensure that correlation information to non-quaternion states is removed when a reset occurs to prevent fusion of subsequent observations (e.g. GPS) causing incorrect yaw.
 2019-01-31 09:53:57 -05:00
Paul Riseborough 0220f469b0 EKF: Use more generic variable name for bad yaw fusion flag 
This flag now reports on  fusion of data that is not from a magnetometer.
 2018-09-19 06:32:43 +10:00
Paul Riseborough eb52f7c410 EKF: Remove implicit conversion and use single precision trig operator 
Double precision accuracy is not required for this operation.
 2018-09-19 06:32:43 +10:00
Paul Riseborough d1f3f4c916 EKF: Use #define function for isfinite check 2018-09-19 06:32:43 +10:00
Paul Riseborough 91f886cb5e EKF: Add support for use of GPS heading data. 
Heading data is assumed to be from a  dual antenna array at a specified yaw angle offset in body frame, but with the heading data already corrected for antenna offset. The offset is required to apply the correct compensation for combined rotations and to determine when the yaw observation has become badly conditioned.
 2018-09-19 06:32:43 +10:00