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160 Commits

Author SHA1 Message Date
Paul Riseborough 8511754094 EKF - detect and fix badly conditioned accel bias covariance values. 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Paul Riseborough 092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00
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 cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
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
Paul Riseborough 26a06567bb EKF: add missing initialisation for class variables 2017-01-15 10:02:31 +01:00
Paul Riseborough 6358bbd257 EKF: remove self assignment 2017-01-15 10:02:31 +01:00
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 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough 403424d55d EKF: fix cross compiler build errors 2016-11-07 09:38:44 +11:00
CarlOlsson 15768f6f93 adopted ekf.cpp 2016-11-05 12:19:01 +01:00
Paul Riseborough b29174d86b Merge pull request #193 from PX4/pr-haglInit 
Pr hagl init
 2016-10-04 08:21:15 +11:00
Paul Riseborough 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
Roman cc05db4985 terrain estimator: pass initialisation return value correctly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-09-20 14:07:50 +02:00
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
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 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 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
Paul Riseborough 81ca167da8 EKF: align output observer to EKF states on startup 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
Paul Riseborough 65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 388e500180 EKF: remove un-used magnetometer health class variable 
replaced by _sensor_health_status
 2016-06-01 17:13:00 +10:00
Paul Riseborough aea827aa8a EKF: ensure filter fault status is initialised 2016-06-01 17:13:00 +10:00
Paul Riseborough 106482b078 EKF: add structure to capture innovation test failures and state resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 70c40d695d EKF: Initialise alignment noise filters using valid data 
Don't initialise the states for the alignment data noise filters until the buffers have been flushed
 2016-05-28 09:04:26 +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 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 1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +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 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
CarlOlsson eb70aca2e8 deleted second update of transformation matrix 2016-05-22 16:03:30 +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 e3b9800cac Merge pull request #138 from pickledgator/evTesting 
EV testing
 2016-05-19 12:56:41 +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 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 c955bfbf93 EKF: fix previous merge error 2016-05-15 20:36:51 +10:00
Paul Riseborough 349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
devbharat cf1df5861a Undid hack in ecl. Handled yaw missalignment on the vision side. 2016-05-14 21:17:29 +10:00
devbharat d16f413b55 Hack to fix external vision pos offset compensation 2016-05-14 21:17:29 +10:00