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76 Commits

Author SHA1 Message Date
Paul Riseborough b2e432e211 EKF: publish position and velocity reset data 2016-06-01 17:13:00 +10:00
Paul Riseborough 733862f649 EKF: move the reset status struct to the Ekf class 
This protects it from being modified externally
 2016-06-01 17:13:00 +10:00
Paul Riseborough aca0336392 EKF: update vertical position and velocity reset capture 
Use reset event struct members instead of separate variables
 2016-06-01 17:13:00 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
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 22fba0fc6e EKF: don't initialise filter without EV data if we are relying on it 2016-05-18 19:25:19 +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 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 b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough c7e225124c EKF: Improve output observer position and velocity tracking 
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method.
Time constants for velocity and position convergence can be separately adjusted with tunable parameters
The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP
The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
 2016-05-14 12:45:29 +09:30
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 724280fd1f EKF: move calculation of optical flow observation variance into a function 
Allows it to be used when calculating initial state variance
 2016-05-08 15:40:06 +10:00
Paul Riseborough 25682dce91 EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow 2016-05-08 10:30:40 +10:00
Paul Riseborough 7f5669fb2d EKF: consolidate covariance corrections 
Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
 2016-05-07 20:29:50 +10:00
Paul Riseborough f1b7e7714e EKF: Make average update rate of EKF closer to target 
With the EKF, the average update rate is more important than the instantaneous value as it affects tuning. This patch ensures that the EKF prediction cycle will be performed early if the previous one was late in an attempt to maintain the target update rate.
 2016-05-05 21:23:03 +10:00
Paul Riseborough 727a43764f EKF: update initial angle alignment check 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
Paul Riseborough 4fcbfb5d42 EKF: correct error in comment 2016-04-23 07:55:25 +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 421703c267 EKF: rework initialisation of height state and offsets 2016-04-22 08:38:41 +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
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 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 31bf342fc1 EKF: publish GPS check status 2016-04-19 17:38:22 +10:00
Roman Bapst 60abf07bee added function to return accelerometer bias 2016-04-18 17:52:16 +02:00
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
CarlOlsson 6bb2f7638c adopted ekf.h 2016-03-30 17:01:03 +02:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough 370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Paul Riseborough e0fcce1463 EKF: Make position and velocity reset publish success 
Some users of the position and velocity reset functions will need to know if the reset has been successful.
 2016-03-11 11:03:43 +11:00
Paul Riseborough dca186c6e8 EKF: Add required declarations for optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough 5242af84af EKF: Standardise covariance update and use static arrays for large matrices 2016-03-05 08:58:19 +11:00
Paul Riseborough d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
Paul Riseborough cd0cac066a EKF: Calculate and publish horizontal and vertical position accuracy 
This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
 2016-02-25 10:38:07 +11:00
mcsauder 6613335937 Added constexpr back from const var type. 2016-02-23 16:15:52 -07:00
mcsauder a4cecb1704 Match variable initialization order difference with upstream. 2016-02-23 19:57:27 -07:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
Roman Bapst 8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
Paul Riseborough a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
bugobliterator 263c48d089 EKF: remove dependecies and allow ekf to be built as standalone shared lib 2016-02-17 17:33:18 -08:00
Paul Riseborough d9bf4e9870 EKF: Enable control mode transitions to be detected 
Save the previous value of the filter control modes
 2016-02-16 11:08:30 +11:00
Paul Riseborough de02aebafd EKF: Reset covariance matrix when doing a yaw and magnetic field reset 
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
Paul Riseborough 83945581ed EKF: Add function to calculate the magnetic declination to use 2016-02-14 22:01:53 +01:00