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663 Commits

Author SHA1 Message Date
waltjohnson 6eaa00e3f9 isfinite() is not part of the math class, rather the math.h header file. 2016-05-19 10:07:45 -06:00
waltjohnson 7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough f5e2dabc2b Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
Paul Riseborough e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough 867bc8c601 Merge pull request #139 from PX4/pr-ekf2Alignment 
EKF: Improve angular alignment consistency
 2016-05-18 21:23:31 +10:00
Paul Riseborough c1b02eaa91 EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned 2016-05-18 21:06:45 +10:00
Paul Riseborough aaac867da8 EKF: Adjust tilt alignment threshold 2016-05-18 20:34:12 +10:00
Paul Riseborough e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough b9a3712ccb EKF: record yaw alignment event during initialisation to allow heading fusion to start early 
This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
 2016-05-18 19:25:19 +10:00
Paul Riseborough 94a63ec9d5 EKF: don't interfere with quaternion covariances during tilt alignment 2016-05-18 19:25:19 +10:00
Paul Riseborough 22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +10:00
Nic 1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
Paul Riseborough 50ba26a434 Merge pull request #134 from PX4/pr-ekf2Alignment 
EKF: Improved tilt alignment control
 2016-05-18 12:34:22 +10:00
Paul Riseborough e4b2e9c93d EKF: Improve yaw alignment 
Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
 2016-05-18 12:16:16 +10:00
Paul Riseborough 57b2a256f7 EKF: Improve initialisation of quaternion covariances 
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
 2016-05-17 12:47:20 +10:00
Paul Riseborough a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough 88860d0307 EKF: Enable tuning for IMU switch on bias errors 2016-05-17 11:17:24 +10:00
Paul Riseborough 1540e937b1 EKF: Improve tilt alignment monitoring 
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
 2016-05-17 11:17:24 +10:00
Paul Riseborough 6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Paul Riseborough d5046b078e Merge pull request #106 from PX4/pr-visionSupport 
EKF: add support for external vision data
 2016-05-16 07:32:46 +10:00
Paul Riseborough c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough 920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough 13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough 59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00
Paul Riseborough 172f4be594 EKF: Fix bug in calculation of terrain observation variance 2016-05-14 21:17:29 +10:00
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 349c731375 EKF: remove PX4 dependant text output 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
devbharat cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00
devbharat d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
devbharat 6d20a426e0 Reset time_last_ext_vision 2016-05-14 21:17:29 +10:00
devbharat b681c9a5d0 Added external vision noise parameters etc and position offset 2016-05-14 21:17:29 +10:00
devbharat ff8f03b5dd Added compensation for VI sensor offset. Check sign. 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 25f1d1d766 EKF: Add fusion of external vision 3D pos data 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 3a0fcd03d7 EKF: Add interfaces and variables to use ext vision data 2016-05-14 21:17:29 +10:00
Paul Riseborough 7afd015b49 Merge pull request #129 from PX4/pr-ekf2OutputFilterTracking 
EKF:  Improve output observer position and velocity tracking
 2016-05-14 15:53:19 +09:30
Paul Riseborough c7e225124c EKF: Improve output observer position and velocity tracking 
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
 2016-05-14 12:45:29 +09:30
Paul Riseborough 627d08ecc9 Revert "EKF: Fix bug in output observer" 
This reverts commit 03f3df7415.
 2016-05-14 12:26:46 +09:30
Paul Riseborough 03f3df7415 EKF: Fix bug in output observer 
Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
 2016-05-14 08:33:05 +09:30
Lorenz Meier d595596c42 Merge pull request #114 from PX4/fix_linux_build 
CMakeLists: use find_package Eigen3
 2016-05-12 12:55:40 +02:00
Carl Olsson 5217b73df1 added bad_airspeed reporting (#123) 2016-05-12 10:06:04 +02:00
Carl Olsson b126921894 changed airspeed innovation gate to 5 (#119) 2016-05-12 10:05:26 +02:00
Julian Oes b8ccc58887 cmake: ignore more eigen warnings 2016-05-12 08:38:37 +02:00
Julian Oes b74114a573 cmake: ignore deprecated warnings of Eigen 2016-05-12 08:27:59 +02:00
Julian Oes 07ecffc963 cmake: another try to get the module path right 2016-05-10 17:59:01 +02:00