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644 Commits

Author SHA1 Message Date
Paul Riseborough f7cae7f3ab EKF: improve compatibility with ARM cross compiler 
This change removes the following compiler error when building using the ARM cross compiler.

/Users/paul/src/Firmware/src/lib/ecl/EKF/ekf_helper.cpp:45:12: error: 'std::abs' has not been declared
 using std::abs;
 2017-03-12 22:55:23 +01:00
Paul Riseborough 9bb54ccc08 EKF: don't accept GPS data without a 3D lock 2017-03-10 10:15:53 +01:00
Paul Riseborough 588b27bde7 EKF: inhibit accelerometer bias learning if manoeuvre levels are excessive 
This prevents bad scale factors and other errors associated with rapid manoeuvres corrupting the accelerometer bias estimates.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 5fb24c3032 EKF: Reduce EKF prediction delta time jitter 
Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic.
Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 324fe3b0c7 EKF: Add accel bias estimation fault to reporting 2017-03-10 10:14:06 +01:00
Paul Riseborough b51abf4aff EKF: Add console notification for accel bias covariance reset 2017-03-10 10:14:06 +01:00
Paul Riseborough 8511754094 EKF - detect and fix badly conditioned accel bias covariance values. 2017-03-10 10:14:06 +01:00
Paul Riseborough cf31945038 EKF: Fix use of incorrect timestamp 
This was incorrectly using the IMU (1/250 sec) timestamp instead of the EKF (1/100 sec) value.
The corresponding accelerometer limit has been made a parameter and adjusted to match previous behaviour.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 879ad1fd2c Merge pull request #231 from pickledgator/ev_hgt_counter_fix 
height counter update for ev primary height source
 2017-03-10 14:18:35 +11:00
Paul Riseborough 092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00
Paul Riseborough e4a4427991 Revert "EKF: fix compile error" 
This reverts commit 6db552717d.
 2017-03-10 07:38:02 +11:00
Paul Riseborough 6db552717d EKF: fix compile error 2017-03-07 21:13:45 +11:00
Daniel Agar eb4f5ecbb9 cmake add all EKF sources (#243) 
- trivial cmake cleanup
 - travis-ci build with both gcc and clang
 - update matrix to latest (matches PX4)
 - closes #240
 2017-02-27 00:46:48 -05:00
Daniel Agar 507f48a147 geo NULL to nullptr (#242) 2017-02-25 15:27:00 -05:00
Paul Riseborough 0d77470efc EKF: Use conservative reporting of velocity errors when aiding is lost 2017-02-25 21:17:01 +01:00
Paul Riseborough 8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
Roman 7e2597ec28 update range sensor angle parameters in case they have changed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman aa53f45f15 terrain estimator: removed unused hrt dependancy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman 6480fcc3d5 terrain estimator: fixed computation of filtered time since last range update 
- do not use hrt to compute delta time
- limit filter state
- do not use static variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Paul Riseborough 6561edb9a5 EKF: Clean up terrain estimation functionality. 
This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
 2017-02-22 14:12:05 +01:00
devbharat 8004e9fe7e EKF: Make range finder data continuous check more robust 
Use a filtered arrival time delta to determine if range data is continuous
 2017-02-22 14:12:05 +01:00
Paul Riseborough d94068b88a EKF: Simplify calculation of height above terrain observation variance 
The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
 2017-02-22 14:12:05 +01:00
Paul Riseborough 3dadc98b43 EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00
Paul Riseborough cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
devbharat d9688fae7d EKF: Simplify terrain position validity check 
Remove the relative accuracy check that was false triggering close to ground
 2017-02-22 14:12:05 +01:00
Paul Riseborough af26ade1ce EKF: Use norm for vector length everywhere 2017-02-22 14:12:05 +01:00
Paul Riseborough 6e5a9aabe1 Merge pull request #234 from PX4/pr-optFlowUpdates 
EKF: optical flow improvements
 2017-02-22 09:00:48 +11:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Daniel Agar 7883085e4a clang-tidy readability-simplify-boolean-expr (#235) 2017-02-02 00:17:43 -05:00
Daniel Agar 47b8ef258b clang-tidy performance-type-promotion-in-math-fn (#236) 2017-02-02 00:17:08 -05:00
Paul Riseborough bcf7cac5d9 EKF: remove hardcoded limit on optical flow time delta 
Allow for up to 50% lost data.
 2017-01-18 06:06:45 +11:00
Paul Riseborough 3fb7effb0c EKF: Allow optical flow use when on-ground with poor data quality 2017-01-18 06:06:45 +11:00
Paul Riseborough 21270bb06a EKF: Use last known position when resuming OF aiding 2017-01-17 08:58:01 +11:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Roman c5a55d97aa initialise data members properly 
- dot not use memset for struct with non POD types

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-15 10:02:31 +01:00
Paul Riseborough 1465adca2f EKF: Improve use of memcpy 
Changes made to remove Coverity scan errors
 2017-01-15 10:02:31 +01:00
Paul Riseborough 26a06567bb EKF: add missing initialisation for class variables 2017-01-15 10:02:31 +01:00
Paul Riseborough f999729d70 EKF: fix incorrect use of memcpy 2017-01-15 10:02:31 +01:00
Paul Riseborough b536382ae1 EKF: remove dead code 2017-01-15 10:02:31 +01:00
Paul Riseborough 6358bbd257 EKF: remove self assignment 2017-01-15 10:02:31 +01:00
Paul Riseborough 3b61528f0f EKF3: initialise default value for EV fusion gate 2017-01-15 10:02:31 +01:00
Paul Riseborough 9ddcba3ed0 EKF: remove un-used variable 2017-01-15 10:02:31 +01:00
Daniel Agar d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Daniel Agar a7cdef6c5c clang-tidy modernize-redundant-void-arg 2017-01-14 16:24:45 -08:00
Nic ec1a14bc6b height counter needs to be updated with ev counter value when our primary height source is set to ev 2017-01-05 21:47:13 -08:00
Paul Riseborough 3c4c09593f EKF: Rationalise console messages 
Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
 2016-12-28 10:39:47 +01:00
Paul Riseborough 934890c2df EKF: Add validity flag to ekf origin reporting 
Flag is false until the origin has been initialised
 2016-12-28 00:56:09 +01:00
Lorenz Meier bf8a9a3d09 EKF: Whitespace fixes 2016-12-17 13:45:28 +01:00
Paul Riseborough a776b2c549 EKF: Fix bug preventing reset to GPS position when using optical flow 2016-11-26 10:28:58 +01:00
Paul Riseborough 460c9e5250 EKF: Don't try to fuse air data if not in normal aiding mode 
Taking off before passing GPS checks would cause airspeed or sideslip to be fused when the filter was still using a constant position assumption. This would cause large airspeed innovations, invalid wind estimates and degrade filter performance after GPS was gained and position and velocity was reset.
 2016-11-26 10:28:58 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough afd6e54b2a EKF: Allow for worst case timing jitter when setting observation buffer length 2016-11-07 11:50:16 +11:00
Paul Riseborough 403424d55d EKF: fix cross compiler build errors 2016-11-07 09:38:44 +11:00
Paul Riseborough d5b398ddb1 EKF: Minimise data buffer lengths 
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
 2016-11-07 09:06:45 +11:00
Paul Riseborough 750a8874c1 EKF: Improve recovery and reporting for badly conditioned sideslip fusion 
Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 6c7703d485 EKF: Update tuning for synthetic sideslip fusion 
Used value that worked well for replay of flight logs
 2016-11-05 12:19:01 +01:00
Paul Riseborough f76a2a5ff7 EKF: fix bug in sideslip fusion and reduce RAM usage 
The bug meant the  Y velocity (state index 5)  covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
 2016-11-05 12:19:01 +01:00
Paul Riseborough 951c8b77af EKF: Improve wind state reset logic 
Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 2fedbc8a18 EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency 2016-11-05 12:19:01 +01:00
Paul Riseborough 352b4ca177 EKF: Allow sideslip fusion with airspeed fusion 2016-11-05 12:19:01 +01:00
Paul Riseborough fb6f4be453 EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning 2016-11-05 12:19:01 +01:00
CarlOlsson a9182259a5 fixed bug in beta fusion 2016-11-05 12:19:01 +01:00
CarlOlsson 0e3ae4b323 fixed issue with the covariance update in synthetic sideslip fusion 2016-11-05 12:19:01 +01:00
CarlOlsson e1d9d503e3 updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated 2016-11-05 12:19:01 +01:00
CarlOlsson dec686afd7 updated parameters 2016-11-05 12:19:01 +01:00
CarlOlsson 5205a8198b added function to control when to fuse beta 2016-11-05 12:19:01 +01:00
CarlOlsson f5d0228cd5 include ecl.h 2016-11-05 12:19:01 +01:00
CarlOlsson beb90f008d adopted code for upstream changes 2016-11-05 12:19:01 +01:00
CarlOlsson b7a4a1358f added sidelip_fusion.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 12aeaafbd3 adopted estimator_interface.h 2016-11-05 12:19:01 +01:00
CarlOlsson c8e3c24150 adopted ekf_helper.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 8f6c75bb0b adopted ekf.h 2016-11-05 12:19:01 +01:00
CarlOlsson 15768f6f93 adopted ekf.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 738414d36e adopted common.h 2016-11-05 12:19:01 +01:00
CarlOlsson 6c9cc5691c adopted EKF/CMakeLists 2016-11-05 12:19:01 +01:00
Paul Riseborough 8aee45dd96 EKF: Fix bug causing repeated resets if GPS sensor disconnected 2016-11-05 09:36:06 +11:00
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 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
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
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
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 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 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
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 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
Youssef Demitri 168d9add76 added getter function for wind states 2016-07-22 12:33:41 +02:00
Beat Küng 73b8ac954d ekf_helper.cpp: remove unused includes 
This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
       not_supported =     ENOTSUP,

The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
 2016-07-15 12:50:11 +02:00
Lucas De Marchi 2240eb6b4f Move __STDC_FORMAT_MACROS to build system (#174) 
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.

Instead of defining it everywhere it is used, let the PX4 build system
to deal with it.
 2016-07-10 16:29:51 +02:00
Paul Riseborough a2d866520a EKF: perform innovation check in all axes before fusing 3D mag data (#171) 
Perform the innovation consistency check on all axes first and exit if any axis fails. Reduces the likelihood of bad magnetometer data corrupting the attitude estimates.
 2016-07-07 16:46:30 +02:00
Paul Riseborough f5e9ea1626 EKF: Prevent potential divide by zero 2016-06-30 17:06:32 +10:00
Paul Riseborough eb2afc522d EKF: fix bug preventing use of baro as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 573f252b73 EKF: fix bug preventing GPS use as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 5f9752cac8 EKF: Improve function names 2016-06-30 17:06:32 +10:00
Paul Riseborough 7bc9217f00 EKF: Clean up control of observation fusion 
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
 2016-06-30 17:06:32 +10:00
Beat Küng 9a95898414 gps_message: remove time_usec_vel from struct (unused) 2016-06-27 10:12:23 +02:00
Roman Bapst 1b394460a3 fix comment about filter bias states 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman Bapst bec1a6831e added method to get gyro bias 
Signed-off-by: Roman Bapst <roman@px4.io>
 2016-06-21 14:13:47 +02:00
Roman 703fb4e31b do not return early in velocity reset method otherwise 
some code will not be executed
 2016-06-08 07:51:18 +02:00
Paul Riseborough 928a7dd059 Merge pull request #157 from PX4/pr-ekf2ResetInterface 
Change state reset information interface
 2016-06-08 14:18:31 +10:00
Paul Riseborough 2024252d65 Merge pull request #158 from CarlOlsson/act_ars_off_by_default 
activate tas fusion, off by default
 2016-06-08 14:17:31 +10:00
Paul Riseborough f26aca55a1 EKF: Fix bug in quaternion covariance initialisation function 
The covariances between quaternion and non-quaternion states were not being updated
 2016-06-08 13:23:30 +10:00
Paul Riseborough b3baab64f2 EKF: Updates to 3-axis mag fusion auto-code 
The code fragments for the magnetometer fusion have been refreshed from the auto-coder.
Explicit floating point types used for constants.
The 3x24 observation Jacobian has been replaced with a 1x24 that is updated each axis iteration to save memory.
 2016-06-08 12:56:59 +10:00
Paul Riseborough 21168f9929 EKF: fix bug in 3-axis mag fusion innovation test 
The fault flag was not being set after an innovation test failure resulting in fusion of the failed measurement
 2016-06-08 11:58:33 +10:00
Paul Riseborough 99b34f0df4 EKF: Only reset necessary terms when mag fusion covariance reset required 
Only the quaternion and mag fusion state covariances are used in the mag fusion calculations.
 2016-06-08 11:58:33 +10:00
Paul Riseborough 381d99aed6 EKF: Inform console of serious fusion numerical errors 2016-06-08 11:58:33 +10:00
Paul Riseborough dbfe8c0242 EKF: remove approximation in mag fusion innovation variance calculation 
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
 2016-06-08 11:58:33 +10:00
Paul Riseborough 79228352e9 EKF: Reset mag and wind state variances to 'reasonable' values 
If an in-flight reset is required, we do not want these variances going to zero as that will significantly delay recovery
 2016-06-08 11:58:33 +10:00
Paul Riseborough 34ffffa021 EKF: Prevent use of non time-stamped invalid data during initialisation 
Fixes bad height initialisation seen intermittently with snapdragon
 2016-06-08 11:56:07 +10:00
CarlOlsson eded0a8f7e activate tas fusion, off by default 2016-06-07 13:49:17 +02:00
Paul Riseborough 3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00
Paul Riseborough 081e17729c EKF: delay commencement of 3D mag fusion until clear of ground 
Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
 2016-06-06 21:59:46 +10:00
Roman Bapst 670c6ca019 change state reset information interface for more convenient handling 
on firmware side
 2016-06-06 13:22:20 +02:00
Paul Riseborough f08aee0a7d EKF: Fix covariance index bug 2016-06-04 00:36:07 +10:00
Julian Oes b8e2f79005 EKF: correct include paths 2016-06-02 16:29:22 +01:00
Julian Oes ecfd8c867a EKF: use ECL printfs everywhere 
- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
 2016-06-02 16:07:26 +01:00
Paul Riseborough 6a55d908c5 EKF: replace reset event times with event counters 
Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 70f76e1a6c EKF: publish innovation consistency check fail status 2016-06-01 17:13:00 +10:00
Paul Riseborough e371a303a9 EKF: publish the quaternion reset event 2016-06-01 17:13:00 +10:00
Paul Riseborough 81ca167da8 EKF: align output observer to EKF states on startup 2016-06-01 17:13:00 +10:00
Paul Riseborough 3ec9221c18 EKF: update output observer and capture reset event for EV yaw resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 9ec09f5f4e EKF: update output observer and capture reset event for magnetic heading resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 2b0d5c28f0 EKF: capture full quaternion change for reset events 2016-06-01 17:13:00 +10:00