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1,376 Commits 514 Branches 136 Tags 234 MiB
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1376 Commits

Author SHA1 Message Date
kamilritz 84dcb32bd8 Extend auxVel interface to support 3d velocity 2020-01-08 14:36:03 +01:00
kamilritz 07e8e88e88 Support full vision variance 2020-01-08 14:36:03 +01:00
kamilritz 4ab3dd50c9 pass Vector by const reference 2020-01-08 09:00:31 +01:00
kamilritz 2657e4fc0c Improve naming and white space 2020-01-08 09:00:31 +01:00
kamilritz db73a06620 Use robust AxisAngle constructor 2020-01-08 09:00:31 +01:00
kamilritz 1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz deeac03d6a Clean up height reset logic booleans 2020-01-08 09:00:31 +01:00
kamilritz cec6d76577 Raise awareness for drag variance(!=stdDev) bug 2020-01-08 09:00:31 +01:00
kamilritz 0b18143745 Improve readibility 2020-01-08 09:00:31 +01:00
kamilritz 3daf25763e Remove unnecessary comments 2020-01-08 09:00:31 +01:00
kamilritz 36da8d82c8 Clean up white space 2020-01-08 09:00:31 +01:00
kamilritz 48787c0160 Improve Matrix library usage 2020-01-08 09:00:31 +01:00
kamilritz a21a7cd5b9 Remove output argument from calcEarthRateNed 2020-01-08 09:00:31 +01:00
kamilritz 9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
kamilritz 066392ef02 Improve naming 2020-01-07 08:14:59 +11:00
kamilritz f99dbd8ca3 Improve naming and brackets 2020-01-07 08:14:59 +11:00
kamilritz 1c68709949 Rename mag ambiguous mag abbreviations with magnitude 2020-01-07 08:14:59 +11:00
kamilritz a24aaad861 CleanUp GPS drift checks 2020-01-07 08:14:59 +11:00
kamilritz c6e3f389d2 Replace calculation of earth NED rotation vector 2020-01-07 08:14:59 +11:00
kamilritz 9f053cb8c1 Simplify covariance getters 2020-01-02 19:26:57 +11:00
Paul Riseborough 0d0f46ec1c EKF: Don't run unnecessary makeRowColSymmetric operation 
This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
 2020-01-02 19:26:57 +11:00
Paul Riseborough 166d260058 EKF: Provide auto-code output that uses (row, col) syntax for covariance matrix 2020-01-02 19:26:57 +11:00
kamilritz 92ba618f57 Improve on flash memory usage 2020-01-02 19:26:57 +11:00
kamilritz 459b76f9fd Make covariance matrices of type matrix::SquareMatrix 
and use functions from Matrix to reset covariances.
 2020-01-02 19:26:57 +11:00
Lorenz Meier a4a694dd87 Disable Coverage option until GCC9 is default 
This would simplify coverage builds, but is not widely available yet.
 2020-01-01 17:03:04 +01:00
Lorenz Meier 3d3267ed1f Fix CMake configuration for coverage tests on Mac OS 2020-01-01 13:50:25 +01:00
Daniel Agar 57144beb98 gitignore update for in tree cmake builds 2019-12-31 11:18:53 -05:00
kamilritz 490c749f80 Revert if statement swap in resetMagHeading 2019-12-18 10:06:31 +01:00
kamilritz a6bbafc7b0 Remove unnecessary initialiseCovariance 
It is already called in reset()
 2019-12-18 09:46:32 +01:00
kamilritz ef9f1053d0 Random improvements 2019-12-18 09:46:32 +01:00
kamilritz 7d3814b1d8 Add orientation initialization tests 2019-12-18 09:46:32 +01:00
kritz 01495ede97 Clean initialiseFilter function (#687) 
* Clean initialiseFilter

* Add const qualifiers
 2019-12-17 13:36:28 +01:00
kritz 532c9abd4a Expand test framework and test cases (#685) 
* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming
 2019-12-17 11:35:45 +01:00
kritz 6c25ac5731 Tilt Initialisation: Average Filter -> LowPass Filter (#686) 
* Tilt Initialisation: Average Filter -> LowPass Filter

* Add _is_first_imu_sample variable

* Remove not needed comments
 2019-12-17 11:01:25 +01:00
Daniel Agar 98a1aae494 EKF: use Matrix cross product 2019-12-17 09:35:08 +01:00
kamilritz 0831c158f2 Move time update to sensor base class 2019-12-16 13:40:01 +01:00
kamilritz 1832bedd13 run_seconds 2019-12-16 13:40:01 +01:00
kamilritz 39b369d90b make ekf a shared pointer 2019-12-16 13:40:01 +01:00
kamilritz f13f2f8452 use shared pointer 2019-12-16 13:40:01 +01:00
kamilritz 00cd720a66 Change folder name 2019-12-16 13:40:01 +01:00
kamilritz b9dd1e54c5 Change file names 2019-12-16 13:40:01 +01:00
kamilritz 2d2edd90e3 ECL Unit Test Clean Up 2019-12-16 13:40:01 +01:00
kamilritz 6b25dbd6c7 SensorSimulator 2019-12-16 13:40:01 +01:00
kamilritz 85e0e6e89c Remove resetStates(AndCovariances) function 2019-12-13 16:50:56 +01:00
kamilritz 64652f523b Improve quality of comments 2019-12-12 08:48:10 +01:00
kamilritz 1bf09fd370 Remove EKF prefix from logged messages 2019-12-12 08:48:10 +01:00
kamilritz 88c4929c96 Use helper function to switch to gps height 2019-12-11 17:23:45 +02:00
kamilritz 042d9b6615 Remove dangerous _primary_hgt_source variable 2019-12-11 17:23:45 +02:00
kamilritz 66f707ede0 Remove non enterable if statement 2019-12-11 17:23:45 +02:00
kamilritz cd030e7cd2 Remove switch to ev hgt during filter initialization 2019-12-11 17:23:45 +02:00