cba5271785
add matrix submodule
2016-02-17 17:38:21 -08:00
2f05f778de
ignore build directory
2016-02-17 17:34:28 -08:00
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
96c0e18acb
Merge pull request #49 from PX4/pr-fixMagCovariance
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EKF: Fix magnetometer fusion and covariance handling
2016-02-18 10:22:36 +11:00
678d6f45cc
Merge pull request #52 from bugobliterator/pr-airspeed-sample-fix
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EKF: fix time of sample receive setting
2016-02-17 22:34:30 +01:00
2096e24c06
EKF: fix time of sample receive setting
2016-02-17 13:29:12 -08:00
a679cdf1fb
EKF: Change parameter default to not fuse declination when aiding
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Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion.
2016-02-17 17:22:02 +11:00
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
294aca8609
EKF: Improve variance limiting for stationary states
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Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
2016-02-16 11:08:30 +11:00
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
69b8982043
EKF: Initialise variances to zero for un-used states
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Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
2016-02-16 11:08:30 +11:00
d9bf4e9870
EKF: Enable control mode transitions to be detected
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Save the previous value of the filter control modes
2016-02-16 11:08:30 +11:00
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
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This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
d8afca5e7a
EKF derivations: Correct error in direct yaw and declination angle fusion
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The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
2016-02-16 11:08:30 +11:00
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
dba58aa4c6
EKF: Add control logic for fusion modes
2016-02-14 22:01:53 +01:00
22c177c951
EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode
2016-02-14 22:01:53 +01:00
c089079321
EKF: Split tilt and yaw align
2016-02-14 22:01:53 +01:00
020cc5978e
EKF: Move calculation of declination into a separate function
2016-02-14 22:01:53 +01:00
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
2016-02-14 22:01:53 +01:00
2bbe7f9a1c
EKF: Update magnetometer fusion to use declination from the specified source
2016-02-14 22:01:53 +01:00
83945581ed
EKF: Add function to calculate the magnetic declination to use
2016-02-14 22:01:53 +01:00
9017e077f8
EKF: Publish the magnetic declination we wish to save for next startup
2016-02-14 22:01:53 +01:00
0308f2f796
EKF: Add parameters to control declination source and fusion type
2016-02-14 22:01:53 +01:00
6140d4b21f
EKF: Add function to reset yaw and magnetic field states
2016-02-14 22:01:53 +01:00
ad978c642f
estimator interface:
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added flag for in_air status of vehicle
2016-02-14 20:43:22 +01:00
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
9d7340e187
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-14 09:49:26 +01:00
da1de2cc4d
EKF: Correct for sensor noise and baro offset during alignment
2016-02-14 09:49:26 +01:00
d21ce70eeb
Merge pull request #45 from CarlOlsson/move_fuse_function_to_helper
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moved fuse function to ekf_helper.cpp
2016-02-13 08:21:28 +01:00
1e766c7510
moved fuse function to ekf_helper.cpp
2016-02-12 15:54:32 +01:00
0a9f7e58db
Merge pull request #43 from PX4/pr-baroHeightOffset
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Correct for sensor noise and baro offset during alignment
2016-02-10 08:02:48 +01:00
fff2bd50f6
EKF: Fix bugs in position and velocity resets
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The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states was being incorrectly reset to the GPS position and Baro height on initial alignment.
2016-02-10 15:16:05 +11:00
40e174b81c
EKF: Correct for sensor noise and baro offset during alignment
2016-02-10 10:25:27 +11:00
a6515543da
Merge pull request #41 from PX4/pr-magFusionUpdates
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EKF2: Prevent declination/heading drift during non-GPS operation
2016-02-09 07:57:34 +11:00
5ea0ef39cd
EKF: Update declination fusion logic
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We do not need to run declination fusion if 3-axis mag fusion is not being used.
2016-02-09 07:54:24 +11:00
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
cdc42c1de0
EKF: Add simple control logic for magnetic declination constraint
2016-02-08 14:18:43 +11:00
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
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When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
2016-02-08 14:18:43 +11:00
9347afe250
EKF: Use unique variable name for mag heading fusion observation Jacobian
2016-02-08 14:18:43 +11:00
6aeccf01ff
EKF: Add missing fusion health status messages
2016-02-08 14:18:43 +11:00
a22886544d
EKF: Add missing Kalman gain to Declination fusion autocode
2016-02-08 14:02:08 +11:00
2c8c6efb45
EKF: Eliminate use of power function to square numbers
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Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
2016-02-08 11:11:59 +11:00
42a943b37e
EKF: Fix text errors introduced when editing optical flow fusion autocode fragment
2016-02-07 21:49:50 +11:00
f99256286b
Merge pull request #40 from PX4/pr-updateOpticalFlowAutoCode
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Update EKF Optical Flow Fusion Autocode Fragments
2016-02-07 19:35:38 +11:00
384ce06110
EKF: Add alternative code fragments for optical flow fusion
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These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
2016-02-07 19:31:13 +11:00
dba462b9f3
EKF: Improve efficiency of optical flow fusion auto generated code fragments
2016-02-07 19:29:49 +11:00
3f81eb7d1b
EKF: fix formatting
2016-02-04 17:15:03 +11:00
bugobliterator
Paul Riseborough
Roman Bapst
Paul Riseborough
CarlOlsson
Lorenz Meier