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155 Commits

Author SHA1 Message Date
Paul Riseborough 7c8fcf7628 EKF: Clarify use of *= operator for quaternions 2017-11-16 11:52:19 +11:00
Daniel Agar ed9a394029
EKF RingBuffer avoid copying 2017-11-15 18:08:51 -05:00
Paul Riseborough 2b20c52c4d EKF: Remove redundant code 2017-11-15 22:03:17 +11:00
Paul Riseborough 72a7ab2c25 EKF: Improve resistance to bad initial mag offset 
When magnetic field states have been reset in-flight using a single sample, the magnetic field states are not used to constrain heading drift for a period after the reset. This period has been shortened from 10 to 5 seconds which is enough time to average out the effects of measurement noise (the original concern). The shorter time has enabled the previous practice for RW vehicles of using magnetic heading in that time period to constrain yaw drift to be discontinued. This is necessary becasue while magnetic heading is being used, it fights the yaw corrections obtained from GPs observations and lengthens the time required to recover from a bad mag calibration.
 2017-11-13 07:05:56 +11:00
Paul Riseborough c70363c501 EKF: Don't fuse heading if FW and waiting for mag states to stabilise 
Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
 2017-11-13 07:05:56 +11:00
Paul Riseborough f3e34eddc9 EKF: do not attempt to align FW yaw using GPS method if on ground 2017-11-13 07:05:56 +11:00
Paul Riseborough 29d383edbf EKF: Allow mag field estimates to stabilise before use 2017-11-13 06:55:02 +11:00
Paul Riseborough 363edf5eb9 EKF: Fix yaw reset for fixed wing 
Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
 2017-11-13 06:55:02 +11:00
Paul Riseborough 7852c0ed03
Merge pull request #312 from PX4/pr-ekfExtVisQuat 
EKF: Enable operation with arbitrary External Vision reference frame
 2017-11-12 08:35:39 +11:00
Paul Riseborough 5fd006ca48 EKF: remove redundant code 2017-11-11 07:06:01 +11:00
ChristophTobler e388e59f32 EKF: use uint64_t cast for XeY to avoid float casting of variables 
The default type for XeY is float
 2017-11-08 11:40:26 +01:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
Paul Riseborough 59f1c3e19e EKF: Update dead-reckoning definition 
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
 2017-10-20 14:44:37 +11:00
Paul Riseborough a2dcd5b9b6 EKF: Consolidate no aiding reset logic 2017-10-20 14:44:37 +11:00
Paul Riseborough 929c5c2b37 EKF: enable gps fusion flag to be false while fusing air data 2017-10-20 14:44:37 +11:00
Paul Riseborough 204a218ee6 EKF: Allow dead-reckoning using air data 2017-10-20 14:22:06 +11:00
ChristophTobler f5fd90533a fix gps and flow flag handling 
gps flag was not turning false if there was flow

only reset states if we were relying on that sensor only
 2017-10-20 14:22:06 +11:00
CarlOlsson c81cdfa1ce EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-10-17 15:08:09 +02:00
Paul Riseborough 6f7f05fdc0 EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place 2017-10-12 14:50:23 +11:00
Paul Riseborough 7b4c957ad4 ekf2: Add new mag fusion mode 
Adds a mode where mag fusion is only used update the field estimates
 2017-10-12 14:50:23 +11:00
Paul Riseborough 1119a9b0ac EKF: Enable optical flow reversion to work if flow data is lost 
Also improve reporting.
 2017-10-12 08:02:54 +11:00
ChristophTobler b7e589b98a EKF: only fuse optical flow if terrain is valid 2017-10-10 17:51:56 +02:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough 160e4d69c1 Merge pull request #323 from PX4/pr-ekfQuatMultOrder 
EKF: use hamiltonian convention for quaternion multiplication order
 2017-09-21 07:49:35 +10:00
Paul Riseborough 1d3e8edc46 EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation 2017-09-14 18:34:11 +10:00
Paul Riseborough dd5b8525c3 EKF: Use hamiltonian convention for quaternion product order 2017-08-31 11:14:02 +02:00
Daniel Agar 99ba1c3745
EKF trivial code style cleanup 2017-08-25 10:09:11 -04:00
ChristophTobler 89236ef275 Merge pull request #314 from PX4/pr-check_stuck_rng 
Pr check stuck rng
 2017-08-21 07:54:06 +02:00
ChristophTobler 7252284628 Add check for stuck range finder measurements 2017-07-31 17:59:16 +02:00
Paul Riseborough ce806768b7 EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing 2017-07-31 19:39:07 +10:00
Paul Riseborough e08da1c599 EKF: Add ability to use EV and GPS data together 
Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
 2017-07-26 18:06:18 +10:00
Paul Riseborough e1fe5b2229 Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos"" 2017-07-19 17:52:35 +10:00
Paul Riseborough c887b02f21 Revert "Split get_terrain_vert_pos() into valid and get_vpos" 2017-07-19 17:33:48 +10:00
ChristophTobler e429ecab17 check if terrain valid instead of initialized 2017-07-17 16:43:23 +02:00
ChristophTobler 517fe8a71f rng aid: use hysteresis with lower hagl check 2017-07-17 13:36:51 +02:00
ChristophTobler 8ed61ac052 init rng offset with ground clearance param when on ground to avoid noisy init 2017-07-13 17:43:19 +02:00
Paul Riseborough 9ee35e38df EKF: Don't fallback when optical flow is lost if external vision data is being used 2017-07-13 20:21:41 +09:00
Paul Riseborough 1bb576c197 EKF: Allow fallback to non-aiding mode if external vision is lost. 2017-07-13 20:21:41 +09:00
Isaac f96685267e Fixed vision position fusion bug 2017-07-10 13:44:51 +10:00
Paul Riseborough ec2b54fde7 EKF: Ensure normal yaw alignment using mag is performed if GPS method is not 2017-07-08 11:13:40 +02:00
Paul Riseborough d446f66105 EKF: Add a fixed wing mode with setter function 2017-07-08 11:13:40 +02:00
Paul Riseborough f064915889 EKF: Enable planes to recover from bad mag data at start of flight 
Adjusts yaw by the amount of the error between GPS and EKF course if innovations are large.
 2017-07-08 11:13:40 +02:00
Paul Riseborough eb1e73ec81 Merge pull request #283 from PX4/ekf_matrix_cleanup 
EKF matrix typedef cleanup
 2017-07-03 21:02:24 +10:00
Paul Riseborough dfbc9de48e Merge pull request #291 from PX4/pr-ekfWindEstBugFix 
EKF: Fix bug affecting wind estimation for planes
 2017-07-01 11:06:58 +10:00
Paul Riseborough 59edccca4a EKF: Fix bug in wind estimation for fixed wing 2017-06-30 10:32:54 +10:00
Paul Riseborough ba4a311771 EKF: Update comments for wind estimation logic 2017-06-30 10:32:23 +10:00
ChristophTobler e1274ad28a move faultiness check above pop_first_older_than() and check independent of range aid to switch back to original sensor if available 2017-06-29 17:07:58 +02:00
ChristophTobler 0d9e535acb Use baro if reset to baro from gps and vice versa 2017-06-29 17:07:42 +02:00
ChristophTobler 4a4b0fa604 remove setting rng faulty in ev mode because not checked 2017-06-29 10:01:16 +02:00
ChristophTobler 066c641d61 range aid: switch to baro/gps even if rng aid conditions met and rng faulty 2017-06-29 09:47:02 +02:00