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77 Commits

Author SHA1 Message Date
Paul Riseborough 6140d4b21f EKF: Add function to reset yaw and magnetic field states 2016-02-14 22:01:53 +01:00
Roman ad978c642f estimator interface: 
added flag for in_air status of vehicle
 2016-02-14 20:43:22 +01:00
Roman ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough 9d7340e187 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-14 09:49:26 +01:00
Paul Riseborough da1de2cc4d EKF: Correct for sensor noise and baro offset during alignment 2016-02-14 09:49:26 +01:00
CarlOlsson 1e766c7510 moved fuse function to ekf_helper.cpp 2016-02-12 15:54:32 +01:00
Paul Riseborough fff2bd50f6 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-10 15:16:05 +11:00
Paul Riseborough 40e174b81c EKF: Correct for sensor noise and baro offset during alignment 2016-02-10 10:25:27 +11:00
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
Paul Riseborough dbb8e12948 EKF: Add fusion method to constrain declination when unobservable 
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the  field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
 2016-02-08 14:18:43 +11:00
Paul Riseborough 9347afe250 EKF: Use unique variable name for mag heading fusion observation Jacobian 2016-02-08 14:18:43 +11:00
Paul Riseborough 6aeccf01ff EKF: Add missing fusion health status messages 2016-02-08 14:18:43 +11:00
Paul Riseborough 2c8c6efb45 EKF: Eliminate use of power function to square numbers 
Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function  that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
 2016-02-08 11:11:59 +11:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Paul Riseborough 9bfc11b660 EKF: Use specific position observation noise when flying without GPS 
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
 2016-02-03 18:40:32 +11:00
Paul Riseborough 7de1d39ce4 EKF: Improve use of position and velocity observation noise parameters 
Fix bug where noise parameters were not being squared when calculating the observation variance.
Use GPS reported speed accuracy to set velocity observation noise and use the parameter to set the minimum.
 2016-02-03 18:15:38 +11:00
Paul Riseborough 2b1e8fe910 EKF: Update tuning parameters 
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
 2016-02-03 17:05:45 +11:00
Lorenz Meier b21a49b3f9 EKF: Use standard C++ initializers 2016-01-31 23:24:36 +01:00
Roman b749a7557b fixed typos 2016-01-31 21:36:58 +01:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator 8200ef4d17 EKF: allocate and unallocate buffer more robustly 2016-01-31 00:12:16 -08:00
bugobliterator c6249a2825 EKF: change estimator base class name to estimation interface 2016-01-31 00:12:07 -08:00
bugobliterator 3cafedd4c1 EKF: start storing samples only when ekf is initialised 2016-01-30 12:46:01 -08:00
bugobliterator b062bd2e38 EKF: move estimator specific variables to estimator core 2016-01-30 12:45:23 -08:00
bugobliterator 287f5eb0c2 EKF: move all estimator specific types to common header 2016-01-30 12:44:19 -08:00
bugobliterator b05e2d825c EKF: move estimator specific initialisations to estimator core 2016-01-30 12:42:24 -08:00
Paul Riseborough f1b82057c0 EKF: Combine GPS velocity innovation gate parameters 
Separate vertical and horizontal parameters for GPS velocity innovation gates are not required
 2016-01-30 12:21:50 -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
bugobliterator a779d45cd0 ekf2: fix bug causing faulty imu data storage 2016-01-29 23:56:24 -08:00
bugobliterator 92dc41e885 EKF: fix typo in function declaration 2016-01-29 20:05:07 -08:00
bugobliterator 3eea6cdcc5 EKF: use namespace for structure definitions 
will be moved to a separate file in the future
 2016-01-29 20:04:21 -08:00
bugobliterator 001d621eb1 EKF: move imu data processing code to estimator core 2016-01-29 20:03:25 -08:00
bugobliterator 251996d387 ekf: move gps checks to Ekf library from estimator_base 2016-01-29 17:15:18 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00
Paul Riseborough 9236f11c80 EKF: Add position and velocity innovation consistency checks 2016-01-28 16:33:54 +11:00
Paul Riseborough 7713cc8c20 Merge pull request #17 from priseborough/pr-addMagErrHandling 
EKF: Add magnetometer fusion error handling
 2016-01-28 13:43:57 +11:00
Lorenz Meier f4b2c0eecf Merge pull request #11 from mcharleb/PRIu64-fix 
Fixed printf of uint64_t
 2016-01-28 01:01:10 +01:00
Paul Riseborough 802129f384 EKF: Add magnetometer fusion error handling 2016-01-28 09:53:55 +11:00
Paul Riseborough 39eef3a2d7 EKF: Remove use of camel case variable names 
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
 2016-01-28 08:37:45 +11:00
Paul Riseborough cc50d26601 EKF: Update comments 2016-01-28 08:13:38 +11:00
Paul Riseborough 4526cb9c4f EKF: remove redundant variable 2016-01-28 07:50:45 +11:00
Paul Riseborough 6326433c47 EKF: Eliminate call to hrt_absolute_time() 
This will make the library more portable
 2016-01-27 19:04:31 +11:00
Paul Riseborough 94a6644684 Add comprehensive user selectable GPS checks 2016-01-25 13:07:57 +11:00
Roman 8d0022ab1e enable estimator state and innovations data logging 2016-01-22 11:31:14 +01:00
Roman 86df68e404 added interface for parameters 2016-01-22 10:45:03 +01:00
nickolasrossi dfbbd36ff7 fix buffer overflow in constrain of wind velocity 2016-01-19 18:25:22 -08:00
Mark Charlebois 79bf35c4b3 Fixed printf of uint64_t 
Must use PRIu64 to prevent compiler errors.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-01-18 22:19:10 -08:00
Roman 0b5c90574c fix delta angle bias usage: 
the delta angle bias was applied to imu data which was not coming in the same
time intervall as the filter was operating. Therefore, the delta angle bias
applied to new imu data had to be scaled correctly in order to match
the imu time interval.
 2016-01-14 17:06:02 +01:00