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689 Commits

Author SHA1 Message Date
Paul Riseborough 35bb6cc6e9 Merge pull request #154 from PX4/pr-ekf2AlignmentBufferFlush 
EKF: Ensure bad initial data is flushed from buffers before use
 2016-05-28 08:41:24 +10:00
Paul Riseborough c905684c12 EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment 2016-05-28 08:28:57 +10:00
Paul Riseborough 9557f64248 Merge pull request #153 from PX4/pr-ekf2ExternalVision 
EKF: external vision bug fixes
 2016-05-27 18:57:41 +10:00
Paul Riseborough ad02818b3d EKF: Improve height reset for external vision 
reset to measurement closest in time to fusion time horizon
 2016-05-27 14:00:50 +10:00
Paul Riseborough 98c0b74a71 EKF: Initialise height correctly when using external vision data 
If EV height selected ensure switch to correct height mode as soon as EV data is received
The 0 height datum is not at the initialisation position, so the height state needs to be reset to the measurement on startup
 2016-05-27 13:59:14 +10:00
Paul Riseborough 9f81b8f09e EKF: provide reset protection for external vision height 2016-05-27 13:15:53 +10:00
Paul Riseborough 1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Paul Riseborough 00bada8f25 EKF: Clean up logic for horizontal position fusion 
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
 2016-05-27 11:29:10 +10:00
Paul Riseborough 6f412a73b4 EKF: Use correct height gate when using external vision 2016-05-27 11:24:53 +10:00
Paul Riseborough e41524ac9d EKF: remove unused variables 2016-05-27 11:21:04 +10:00
Paul Riseborough 53030b9297 Merge pull request #152 from PX4/pr-ekf2FixObsDataHandling 
EKF: Fix vulnerability to loss of observations due to high input data rates
 2016-05-26 21:44:10 +10:00
Paul Riseborough 7dd123094f EKF: correct documentation 2016-05-26 21:42:56 +10:00
Paul Riseborough d5b5cb5899 EKF: improvements to observation collection 
Remove unnecessary function calls
Remove un-used functions
Apply a consistent maximum safe data rate check for all observation inputs
 2016-05-26 13:27:08 +10:00
Paul Riseborough e2d9e19a5d Merge pull request #148 from PX4/pr-ekf2OutputPredictor 
EKF2 provide alternative output velocity prediction
 2016-05-24 08:46:33 +10:00
Paul Riseborough 9f0b9909e7 Merge pull request #149 from PX4/pr-ekf2FixUnwantedGpsUse 
EKF: prevent unwanted GPS use
 2016-05-24 08:45:18 +10:00
Paul Riseborough 5a40aa2c1a EKF: prevent unwanted GPS use 2016-05-24 07:55:09 +10:00
Paul Riseborough 90d65071c1 EKF: Add output predictor processing option 
Setting the velocity tracking tine constant to a negative number causes the output predictor to use a different method of correcting the velocity which provides a velocity output that is kinematically consistent with the position output.

This may improve height controller performance under some circumstances
 2016-05-23 07:47:10 +10:00
Paul Riseborough 30917430e2 EKF: inline ring buffer functions used repeatedly 
These functions get called 30 times each per output prediction cycle
 2016-05-23 07:43:59 +10:00
Paul Riseborough c8c2d6d963 Merge pull request #145 from CarlOlsson/small_fix 
Deleted second update of transformation matrix
 2016-05-23 07:40:58 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Carl Olsson dbe2513d48 updated logic of calculation of body field variance (#146) 2016-05-22 17:39:25 +02:00
CarlOlsson eb70aca2e8 deleted second update of transformation matrix 2016-05-22 16:03:30 +02:00
Paul Riseborough 4c5252269c Merge pull request #142 from PX4/pr-ekf2ImproveHeadingReset 
EKF: Improved heading reset
 2016-05-21 22:38:26 +10:00
Paul Riseborough ae5071f668 EKF: Improve heading reset 
Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
 2016-05-21 19:30:15 +10:00
Paul Riseborough 4b279a8836 Merge pull request #144 from waltjohnson/master 
Addressed C99 compiler issues of initializing variables in header and…
 2016-05-20 07:37:24 +10:00
waltjohnson a9ca8c294c Generalized isfinite() in similar form as done in ekf.cpp e3b9800cac/EKF/ekf.cpp (L45-L52) 2016-05-19 10:34:16 -06:00
waltjohnson 6eaa00e3f9 isfinite() is not part of the math class, rather the math.h header file. 2016-05-19 10:07:45 -06:00
waltjohnson 7c158aa59b Addressed C99 compiler issues of initializing variables in header and unused included statements. 2016-05-19 09:58:18 -06:00
Paul Riseborough f5e2dabc2b Create CONTRIBUTING.md 2016-05-19 18:14:33 +10:00
Paul Riseborough e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +10:00
Paul Riseborough 867bc8c601 Merge pull request #139 from PX4/pr-ekf2Alignment 
EKF: Improve angular alignment consistency
 2016-05-18 21:23:31 +10:00
Paul Riseborough c1b02eaa91 EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned 2016-05-18 21:06:45 +10:00
Paul Riseborough aaac867da8 EKF: Adjust tilt alignment threshold 2016-05-18 20:34:12 +10:00
Paul Riseborough e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough b9a3712ccb EKF: record yaw alignment event during initialisation to allow heading fusion to start early 
This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
 2016-05-18 19:25:19 +10:00
Paul Riseborough 94a63ec9d5 EKF: don't interfere with quaternion covariances during tilt alignment 2016-05-18 19:25:19 +10:00
Paul Riseborough 22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +10:00
Nic 1b16f3575a added ev_pos flag check to valid_lpos, disable fake gps when ev_pos is valid 2016-05-17 21:07:04 -07:00
Paul Riseborough 50ba26a434 Merge pull request #134 from PX4/pr-ekf2Alignment 
EKF: Improved tilt alignment control
 2016-05-18 12:34:22 +10:00
Paul Riseborough e4b2e9c93d EKF: Improve yaw alignment 
Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
 2016-05-18 12:16:16 +10:00
Paul Riseborough 57b2a256f7 EKF: Improve initialisation of quaternion covariances 
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
 2016-05-17 12:47:20 +10:00
Paul Riseborough a4728bc748 EKF: derive auto-code for quaternion state covariance initialisation 2016-05-17 12:28:58 +10:00
Paul Riseborough 88860d0307 EKF: Enable tuning for IMU switch on bias errors 2016-05-17 11:17:24 +10:00
Paul Riseborough 1540e937b1 EKF: Improve tilt alignment monitoring 
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
 2016-05-17 11:17:24 +10:00
Paul Riseborough 6ca8a36782 EKF: Add matlab derivation for calculation of rotation vector variance 2016-05-17 10:56:19 +10:00
Paul Riseborough d5046b078e Merge pull request #106 from PX4/pr-visionSupport 
EKF: add support for external vision data
 2016-05-16 07:32:46 +10:00
Paul Riseborough c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough 920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough 13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough 59eb9eb3db EKF: fix shadow declaration arising from rebase 2016-05-14 21:17:30 +10:00