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356 Commits 514 Branches 136 Tags 234 MiB
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263 Commits

Author SHA1 Message Date
Paul Riseborough 82da832816 EKF: tidy up Kalman gain calculations 
Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
 2016-05-05 21:23:03 +10:00
Paul Riseborough 311d046a26 EKF: Enable optional activation of XY delta velocity bias estimation 2016-05-05 21:23:03 +10:00
Paul Riseborough 572c2280bd EKF: tidy up covariance prediction 2016-05-05 21:23:03 +10:00
Paul Riseborough 54e713969d EKF: Fix rebase error 2016-05-05 21:23:03 +10:00
Paul Riseborough 67d23948b5 EKF: preliminary re-tune 2016-05-05 21:23:03 +10:00
Paul Riseborough 03c35266ef EKF: remove unused parameter 2016-05-05 21:23:03 +10:00
Paul Riseborough fe9f88a8b4 EKF: test new derivation 
Use direct attitude parameterisation
Discard scale factors
Add accel bias
 2016-05-05 21:23:03 +10:00
Daniel Agar 22d18d638c enable Wshadow 2016-05-04 19:45:40 -04:00
Beat Küng f2dda3c183 ekf: initialize _terrain_var, fixes access to uninitialized value 
in PX4 Firmware, Ekf::get_terrain_vert_pos depends on it. This is the
valgrind output:
==15439== Thread 14 ekf2:
==15439== Conditional jump or move depends on uninitialised value(s)
==15439==    at 0x5610087: sqrtf (in /usr/lib64/libm-2.22.so)
==15439==    by 0x4D1AF0: Ekf::get_terrain_vert_pos(float*) (terrain_estimator.cpp:135)
==15439==    by 0x46641F: Ekf2::task_main() (ekf2_main.cpp:655)
==15439==    by 0x42BF3D: entry_adapter(void*) (px4_posix_tasks.cpp:103)
==15439==    by 0x4E3C609: start_thread (in /usr/lib64/libpthread-2.22.so)
==15439==    by 0x5BF7A4C: clone (in /usr/lib64/libc-2.22.so)
 2016-05-02 17:35:42 +02:00
Roman 0c77ebf6bd EKF: Reduce likelihood of bad covariance values after height resets 
The cross terms (covariances) are now reset before the variance variance is set.

The vertical velocity state variance following a reset without GPS has been reduced.
 2016-05-01 21:39:56 +10:00
Paul Riseborough 6c57bea1c3 EKF: fix bug in IMU error application timing patch 2016-04-30 15:11:12 +10:00
Paul Riseborough 15df20831a EKF: improve output complementary filter tracking 
Optimise for height tracking and adjust gains automatically with changes in time delay.
 2016-04-30 11:03:45 +10:00
Paul Riseborough 4fa1e9c651 EKF: Fix timing errors in state prediction 
IMU corrections were being applied at the wrong time horizon to the EKF states
IMU downsampling rotates the delta velocities into the orientation produced by the last delta angle, but this wasn't consistent with the way the state prediction was using the delta velocity data.
 2016-04-30 11:02:19 +10:00
Julian Oes f8a48f9cc5 ekf: now it should even compile for NuttX 2016-04-28 16:30:49 +02:00
Julian Oes 12f4d6f703 ekf: another stab at fixing isfinite for all 
The previous solution did not work for Snapdragon, so I needed to copy
what is used in px4_defines.h.
 2016-04-28 16:09:12 +02:00
Paul Riseborough 22ad87599c Merge pull request #112 from PX4/fix_ubuntu1604_2 
ekf: compile fix for Ubuntu 16.04
 2016-04-27 21:21:04 +10:00
Julian Oes 46e207106b ekf: use `std::isfinite` instead of `isnan` 2016-04-27 12:58:22 +02:00
Paul Riseborough 4fcbfb5d42 EKF: correct error in comment 2016-04-23 07:55:25 +10:00
Paul Riseborough 3e81b86280 EKF: improve height reset logic 
Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
 2016-04-22 10:50:53 +10:00
Paul Riseborough 874558d194 EKF: improve detection of bad vert accel data 
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
 2016-04-22 09:24:04 +10:00
Paul Riseborough 469a7d1711 EKF: rework height reset 
calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
 2016-04-22 08:43:56 +10:00
Paul Riseborough e3365525c2 EKF: rework height reset logic 2016-04-22 08:39:24 +10:00
Paul Riseborough 421703c267 EKF: rework initialisation of height state and offsets 2016-04-22 08:38:41 +10:00
Paul Riseborough a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Paul Riseborough 10bf05e9a6 EKF: publish the vertical position offset 2016-04-22 08:30:46 +10:00
Paul Riseborough 0de15b1b20 EKF: Add variables to monitor vertical position and height offset 2016-04-22 08:28:56 +10:00
Paul Riseborough 62c6d40f1f EKF: Add methods to ring buffer to access specific indices 2016-04-22 08:21:36 +10:00
Paul Riseborough b295f9050c EKF: ensure GPS check status is correctly initialised 2016-04-20 21:53:15 +10:00
Lorenz Meier 9487eac505 Merge pull request #98 from priseborough/pr-ekf2StatusReporting 
EKF: improve reporting of filter status
 2016-04-20 11:44:02 +02:00
Roman Bapst 6344fa0e8c limit maximum rates of all measurement at which they are stored into the buffers 2016-04-19 12:47:57 +02:00
Roman Bapst 00c8821006 disable airspeed fusion for now. Needs more testing and implementation of side slip fusion 2016-04-19 11:18:45 +02:00
Paul Riseborough 2fa8a11a29 EKF: replace unnecessary memcopy 2016-04-19 19:10:41 +10:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 82920da232 EKF: strengthen checking of local position status 
provides immediate status reporting when dropping out of optical flow mode
 2016-04-19 17:38:22 +10:00
Paul Riseborough 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Paul Riseborough 6fa13c7806 EKF: publish control mode status 2016-04-19 17:37:27 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
Roman Bapst f32303de69 added function to return accelerometer bias 2016-04-18 17:00:17 +02:00
Lorenz Meier 3455931617 EKF init: Fix initialization statement 2016-04-17 19:29:23 +02:00
Daniel Agar 861c13f1fe cmake STACK -> STACK_MAIN 2016-04-16 21:46:50 -04:00
Paul Riseborough ea38aa130f EKF: update default time delay parameter values 2016-04-14 08:53:59 +10:00
Paul Riseborough 8c55e36ca9 EKF: use common value for gravity 2016-04-12 11:14:31 +10:00
Paul Riseborough 163c08a3ac EKF: Improve output observer documentation 2016-04-12 11:14:31 +10:00
Paul Riseborough 2dcc6e2053 EKF: Improve accuracy of state prediction 
Use an a common estimator value for gravity
Use average orientation across update interval when rotating delta velocities
 2016-04-12 11:14:31 +10:00
Paul Riseborough 5bf02517a7 EKF: Rationalise use of rotation matrices and improve efficiency 2016-04-12 11:14:31 +10:00
Paul Riseborough e10093854a EKF: correct outputs for IMU offset 2016-04-12 11:14:31 +10:00
Paul Riseborough b46053415f EKF: Compensate optical flow data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 48b105b748 EKF: correct range finder data for sensor position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough 3580940e10 EKF: Add sensor position offset parameters 2016-04-12 11:14:31 +10:00