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907 Commits

Author SHA1 Message Date
Beat Küng 07c6aabd98 EKF: reduce KH to only the elements that are really needed, and merge the loops 2016-11-02 10:26:40 +01:00
Paul Riseborough 1b59a89a18 EKF: save some stack memory 2016-11-02 09:06:06 +01:00
Beat Küng f472324ae8 DataValidatorGroup: remove the assert 
(avoid crashes in flight)
 2016-11-01 22:49:20 +01:00
Beat Küng 25cb400da9 EKF: remove Ekf::KHP and move KHP to the methods where it's used 
Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.

This saves 2.3KB RAM.

Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
 2016-11-01 22:49:20 +01:00
Beat Küng 227938d263 DataValidatorGroup: add add_new_validator() to dynamically add new validators 2016-11-01 22:49:20 +01:00
Beat Küng ded3b1a690 DataValidatorGroup: fix memory leak, delete all DataValidator's in destructor 2016-11-01 22:49:20 +01:00
Beat Küng b870f92e1c DataValidator: use 32bit timeout instead of 64bit, saves memory 2016-11-01 22:49:20 +01:00
Paul Riseborough d07692e87e Merge pull request #204 from PX4/pr-gpsReset 
ekf reset: more granular reset / timeout strategy for gps fusion
 2016-10-26 06:52:10 +11:00
Paul Riseborough 79df7e8889 EKF: Reduce effect of bad airspeed when other aiding data available 2016-10-25 08:34:41 +02:00
Paul Riseborough 968cfae632 EKF: Fix bug preventing fallback from GPS mode if GPS is lost 2016-10-25 08:32:01 +11:00
Roman 63cf3d50be ekf gps reset: do not bother checking for need of reset if gps is not 
available

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-24 11:45:36 +02:00
Roman c5f750dcca ekf reset: more granular reset / timeout strategy for gps fusion 
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-24 11:40:12 +02:00
Roman Bapst 65de4962b5 Merge pull request #203 from PX4/pr-ekfVibeReporting 
EKF: Add IMU vibration calculation and reporting
 2016-10-19 13:32:53 +02:00
Paul Riseborough b10b0184c5 EKF: Add IMU vibration calculation and reporting 
Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
 2016-10-19 21:46:55 +11:00
Roman 17c195d1cd ekf2 height reset: do not apply height change to height state twice (bug) 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 07:58:19 +02:00
Paul Riseborough 1093e6d789 EKF: fix documentation error 2016-10-13 22:37:14 +02:00
Roman f80b3481a4 reset the newest output sample for all possible resets 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-12 08:54:38 +02:00
Roman 238d947239 proper handling of position and velocity reset 
- position reset method was returning before the actual delta values
were written and applied to the output buffer
- apply reset delta also to the output sample which was already taken out
from the output buffer, otherwise the complementary filter solution is
offset from the ekf solution

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-12 08:54:38 +02:00
Paul Riseborough 79b1d3018d EKF: Fix magnetometer innovation test ratio reporting bug 2016-10-12 08:51:45 +02:00
Lorenz Meier 394bfdc935 Update README.md 
Fix prerequisites.
 2016-10-08 11:00:52 +02:00
Daniel Agar 0d02bb2612 ecl attitude_fw fix excessive body fixed turn offset 
-limit body fixed turn offset contrained roll to possible
roll setpoint range
-fixes #181
 2016-10-06 09:03:48 +02:00
James Goppert 7dbb43f2cd Update matrix. 2016-10-06 09:03:10 +02:00
Paul Riseborough 352750e5d1 EKF: publish ekf solution status summary data 2016-10-06 09:02:29 +02:00
Paul Riseborough 007e73379f EKF: Improve reporting of position error 2016-10-06 09:02:29 +02:00
Paul Riseborough 744b79c1b2 EKF: Publish innovation test ratios 2016-10-06 09:02:29 +02:00
Paul Riseborough 5ab90048e1 Merge pull request #184 from PX4/pr-rngDelayFix 
fixed computation of range measurement timestamp
 2016-10-04 09:13:19 +11:00
Paul Riseborough b29174d86b Merge pull request #193 from PX4/pr-haglInit 
Pr hagl init
 2016-10-04 08:21:15 +11:00
Paul Riseborough 5702c2d51b Merge pull request #186 from priseborough/pr-ekfOutputPredictor 
EKF: Improve Output Predictor Tracking
 2016-10-04 07:47:34 +11:00
Paul Riseborough b5ba4f280f EKF: reduce output predictor velocity time constant 2016-10-03 14:13:07 +11:00
Paul Riseborough 65762e5998 EKF: publish output predictor tracking errors 2016-10-03 14:13:07 +11:00
Paul Riseborough c81f9f1dba EKF: Reduce output predictor tracking errors 
Implements a PI tracking loop
 2016-10-03 14:13:07 +11:00
Julian Oes 4fefe5c6c6 cmake: stack size args cleanup 2016-09-28 08:23:18 +02:00
Julian Oes 616aeb9ad7 ekf_helper: fix forgotten return value 2016-09-27 16:36:29 +02:00
Julian Oes fd403b733d CMakeLists: don't always optimize for size 
Going forward the optimization flags should be set for a platform,
rather than for each individual module.
 2016-09-27 16:35:35 +02:00
Roman c6e1d97176 terrain estimator: initialise with projection 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:09:42 +02:00
Roman cc05db4985 terrain estimator: pass initialisation return value correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:07:50 +02:00
Roman d53f532079 fixed computation of range measurement timestamp 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-17 11:41:12 +02:00
Paul Riseborough 7240fc78fe Merge pull request #183 from CarlOlsson/cont_wind_estimation 
Fix wind state  and wind variance initialization
 2016-08-23 19:55:22 +10:00
James Goppert eab57b0187 Merge pull request #189 from PX4/revert-188-matrix_update 
Revert "Update matrix."
 2016-08-18 12:29:41 -04:00
James Goppert e5b74f511f Revert "Update matrix." 2016-08-18 12:29:31 -04:00
James Goppert 90f6bd7f3d Merge pull request #188 from PX4/matrix_update 
Update matrix.
 2016-08-18 12:06:20 -04:00
James Goppert 1daea6c1a3 Update matrix. 2016-08-18 11:58:31 -04:00
CarlOlsson 8d60da1442 removed old wind initialization 2016-08-11 15:26:21 +02:00
CarlOlsson 51c8715638 fixed issue with airspeed never fused 2016-08-11 15:26:21 +02:00
Paul Riseborough d1d56d9e5e EKF: Add logic to to control wind state estimation 2016-08-11 15:26:21 +02:00
Paul Riseborough 75bec44b94 EKF: add function to initialise wind states 2016-08-11 15:26:21 +02:00
Paul Riseborough 6dff2df28e EKF: Add method to reset wind state covariances 
Set variances in polar coordinates and rotate into cartesian frame
 2016-08-11 15:26:21 +02:00
Paul Riseborough eff9af549f scripts: derive conversion from polar to cartesian wind state covariance 2016-08-11 15:26:21 +02:00
Paul Riseborough a9894d7e8c EKF: improve efficiency of airspeed fusion 
Don't compute array entries where the result will be zero
 2016-08-11 15:26:21 +02:00
Roman Bapst df0f8fed45 fixed wrong condition on which gps height would be fused (#180) 
- this solves the issue where height innovations would jump
between two regimes

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-08-05 14:45:48 +02:00