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539 Commits

Author SHA1 Message Date
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
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
Paul Riseborough 0605c88ecc EKF: capture horizontal position reset events 2016-06-01 17:13:00 +10:00
Paul Riseborough e3a1b4a3b3 EKF: capture velocity reset events 2016-06-01 17:13:00 +10:00