165 Commits

Author	SHA1	Message	Date
Roman	8d0022ab1e	enable estimator state and innovations data logging	2016-01-22 11:31:14 +01:00
Roman	0b5c90574c	fix delta angle bias usage: ... the delta angle bias was applied to imu data which was not coming in the same time intervall as the filter was operating. Therefore, the delta angle bias applied to new imu data had to be scaled correctly in order to match the imu time interval.	2016-01-14 17:06:02 +01:00
Roman	2af5856361	initialise output height with baro	2016-01-08 06:59:10 +01:00
Roman	a41f75ffb1	use full mag fusion	2016-01-08 06:59:10 +01:00
Roman	f8354bb5e9	- do not fake vertical gps measurement as we have baro ... - formatting Conflicts: EKF/ekf.cpp	2016-01-08 06:59:10 +01:00
Roman	2a88fc6cfd	initialise vertical position correctly	2016-01-08 06:42:22 +01:00
Paul Riseborough	edfb7aefcc	EKF: Fix initial alignment errors ... Use the gravity vector to estimate the initial roll and pitch angle Use the projection of the magnetic field measurement onto the earth axis horizontal plane to calculate the initial heading	2016-01-03 00:03:03 +11:00
Lorenz Meier	eda69e727f	Do not print states by default	2015-12-24 13:48:22 +01:00
Roman	457a57c6ff	use simple heading fusion	2015-12-22 18:00:59 +01:00
Roman	5e5d6f432a	added static gps mode and init mag state correctly	2015-12-22 11:22:17 +01:00
Roman Bapst	d233ca3990	added complementary filter for real time state estimation	2015-12-10 16:36:10 +01:00
Roman Bapst	67646a15b0	added full mag fusion	2015-12-10 09:07:00 +01:00
Roman	8de8b0eb76	prediction and vel pos heading fusion working	2015-12-09 17:47:52 +01:00
Roman	cfc39bc2f9	implemented prediction of states and covariance matrix	2015-12-07 22:41:11 +01:00
Roman Bapst	144aa9c461	added base class for data storage	2015-12-05 11:08:06 +01:00