7c8fcf7628
EKF: Clarify use of *= operator for quaternions
2017-11-16 11:52:19 +11:00
ed9a394029
EKF RingBuffer avoid copying
2017-11-15 18:08:51 -05:00
44eaa076db
Merge pull request #356 from PX4/pr-ekfMiscUpdate
...
EKF: Remove redundant code
2017-11-16 07:05:18 +11:00
2b20c52c4d
EKF: Remove redundant code
2017-11-15 22:03:17 +11:00
cfdab732d1
EKF: Update parameter description
2017-11-15 21:28:11 +11:00
16154423c8
matlab: update optical flow derivation
...
Support use of sensors with arbitrary orientation in body frame
2017-11-15 11:16:19 +11:00
cc651ac472
Merge pull request #354 from PX4/ekfMagYawReset-wip
...
Prevent loss of navigation accuracy after in-flight mag yaw alignment
2017-11-13 07:32:23 +11:00
72a7ab2c25
EKF: Improve resistance to bad initial mag offset
...
When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
2017-11-13 07:05:56 +11:00
df9f48d2d3
EKF: Fix build error
2017-11-13 07:05:56 +11:00
44c50ab2df
EKF: Correct magnetic yaw measurement using learned mag biases
...
Don't apply bias corrections when biases are being learned to avoid possible circular data dependency.
2017-11-13 07:05:56 +11:00
c70363c501
EKF: Don't fuse heading if FW and waiting for mag states to stabilise
...
Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
2017-11-13 07:05:56 +11:00
279fc836f7
EKF: Always reset covariance matrix terms when doing vel pos state reset
...
If state errors were large before the reset, then failure to reset the covariance matrix terms can result in incorrect fusion of position and velocity measurements after the reset due to inconsistencies in the covariance matrix.
2017-11-13 07:05:56 +11:00
141264fe63
EKF: Add method to set diagonals in covariance matrix
2017-11-13 07:05:56 +11:00
32de90b9ef
EKF: Add method to zero covariance terms
2017-11-13 07:05:56 +11:00
f3e34eddc9
EKF: do not attempt to align FW yaw using GPS method if on ground
2017-11-13 07:05:56 +11:00
8f27d3fc54
EKF: don't reset quaternion states unnecessarily
...
When performing the initial in-flight mag yaw reset for RW vehicle, do not reset the quaternion states and corresponding variances unless there has been a change in yaw angle large enough to cause problems with navigation.
This is because the state estimates after a reset are more vulnerable to transient sensor errors, so a reset should be avoided if possible.
2017-11-13 07:05:56 +11:00
9e47b6e1b6
EKF: don't reset quaternions unnecessarily
...
When performing the initial in-flight magnetic field reset for fixed wing vehicles, resetting the quaternion states and their corresponding covariances should be avoided unless yaw errors are large, because state estimates are vulnerable to transient sensor errors immediately following a reset.
2017-11-13 06:55:02 +11:00
29d383edbf
EKF: Allow mag field estimates to stabilise before use
2017-11-13 06:55:02 +11:00
363edf5eb9
EKF: Fix yaw reset for fixed wing
...
Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
2017-11-13 06:55:02 +11:00
7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat
...
EKF: Enable operation with arbitrary External Vision reference frame
2017-11-12 08:35:39 +11:00
5fd006ca48
EKF: remove redundant code
2017-11-11 07:06:01 +11:00
368248fe6d
Merge pull request #353 from PX4/pr-expo_int_cast
...
EKF: use uint64_t cast for XeY to avoid float casting of variables
2017-11-08 11:54:39 +01:00
e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
...
The default type for XeY is float
2017-11-08 11:40:26 +01:00
bba3f70a0e
EKF: reduce prediction time step from 12 to 8 sec
...
Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
2017-11-02 09:27:33 +01:00
01d68ef67c
EKF: Enable use of rotated external nav estimates
2017-11-01 08:33:57 +11:00
f921b2de5c
Merge pull request #348 from PX4/pr-ekfAddImuBiasReset
...
EKF: Add method to enable the IMU bias states to be reset externally
2017-10-30 15:55:52 +11:00
063533afae
EKF: Add method to enable the IMU bias states to be reset externally
2017-10-26 10:41:39 +11:00
cd2ca57ec2
Merge pull request #339 from PX4/ekfPosCtrlLimits-wip
...
Ekf pos ctrl limits wip
2017-10-23 06:57:23 +11:00
22a51c6afd
PX4_ISFINITE -> ISFINITE
2017-10-22 20:37:40 +02:00
9e13a2cb21
tecs move initialization
2017-10-22 20:37:40 +02:00
31a8e047d7
tecs one line setters and group
2017-10-22 20:37:40 +02:00
4f2d571c89
tecs fix code style
2017-10-22 20:37:40 +02:00
79995b2c15
Create total energy control system implementation
...
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
2017-10-22 20:37:40 +02:00
9eb860fabd
travis-ci fix gcc and clang compilation jobs ( #344 )
...
- allow the python testing to fail without failing the entire build
2017-10-22 12:19:11 -04:00
e10ec59058
EKF: Use consistent test for navigation validity reporting
...
This will enable controller to take advantage of non-inertial dead reckoning.
2017-10-20 14:44:38 +11:00
19074fdd9e
EKF: Use consistent time limit for inertial dead reckoning test
2017-10-20 14:44:38 +11:00
55a2dc94df
EKF: handle air data fusion covariance reset consistently
...
Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
2017-10-20 14:44:37 +11:00
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
e4ffe199ed
EKF: fix bug in sideslip fusion activation
2017-10-20 14:44:37 +11:00
59f1c3e19e
EKF: Update dead-reckoning definition
...
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
2017-10-20 14:44:37 +11:00
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
2017-10-20 14:44:37 +11:00
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
2017-10-20 14:44:37 +11:00
204a218ee6
EKF: Allow dead-reckoning using air data
2017-10-20 14:22:06 +11:00
f5fd90533a
fix gps and flow flag handling
...
gps flag was not turning false if there was flow
only reset states if we were relying on that sensor only
2017-10-20 14:22:06 +11:00
9857fb9eb6
EKF: publish control limits for optical flow navigation
2017-10-20 14:22:06 +11:00
afa8844eb7
Merge pull request #341 from CarlOlsson/fix/fw_yaw_align2
...
EKF: If aligning yaw for fw with low GPS velocity, use mag
2017-10-20 14:05:52 +11:00
2e03084d34
EKF: If aligning yaw for fw with low GPS velocity, use mag
2017-10-19 16:49:54 +02:00
61e0c04811
Merge pull request #338 from CarlOlsson/fix/fw_pos_reset
...
EKF: Fix bug when resetting position and velocities for fw due to som…
2017-10-18 07:02:34 +11:00
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
...
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-17 15:08:09 +02:00
410697cb0c
Merge pull request #337 from CarlOlsson/fix/comment
...
EKF: fixed comment
2017-10-17 21:15:06 +11:00
Paul Riseborough
Daniel Agar
Paul Riseborough
ChristophTobler
ChristophTobler
CarlOlsson