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70 Commits

Author SHA1 Message Date
kamilritz 1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz 36da8d82c8 Clean up white space 2020-01-08 09:00:31 +01:00
kamilritz 9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
Paul Riseborough 0d0f46ec1c EKF: Don't run unnecessary makeRowColSymmetric operation 
This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
 2020-01-02 19:26:57 +11:00
kamilritz 92ba618f57 Improve on flash memory usage 2020-01-02 19:26:57 +11:00
kamilritz 459b76f9fd Make covariance matrices of type matrix::SquareMatrix 
and use functions from Matrix to reset covariances.
 2020-01-02 19:26:57 +11:00
kamilritz dae8c2f8dc Group velocity and position as a 3d vector 2019-12-05 20:09:34 +11:00
kamilritz 86b9079bdc Refactoring velPos fusion 2019-12-05 20:09:34 +11:00
kamilritz fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz 1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz 3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Dion Gonano 2354c30d81 Add vision height covariance passthrough (#507) 
* Add vision height covariance passthrough

* Fix hgtErr layout
 2018-09-11 06:36:13 +10:00
Paul Riseborough 8a713398cb EKF: Improve ground effect compensation 
Start deadline at zero so that initial rotor wash effect is rejected.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 75e65901ae EKF: fix bug causing height offset when GPS use stops 
This bug causes the last vertical velocity observation to be continuously fused.
 2018-05-10 10:55:56 +02:00
Daniel Agar c5b2f59f57 PX4 style fixes (excluding EKF generated code) 2018-05-03 22:25:36 -04:00
Daniel Agar cd12f049fe move geo and geo_lookup from PX4 Firmware to ECL 2018-03-26 21:52:11 -04:00
Paul Riseborough 89be63d6c2 EKF: Fix vel pos innovation logging bug 2017-11-24 14:25:44 +11:00
Paul Riseborough b0ad8269a5 EKF: enable separate monitoring of aux velocity innovations 2017-11-21 11:18:09 +11:00
Paul Riseborough 2a57fd858d EKF: clean up reset of fusion flags 2017-11-21 11:18:09 +11:00
Paul Riseborough 8e30c2666d EKF: Add support auxiliary velocity observation 
This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
 2017-11-21 11:18:09 +11:00
Paul Riseborough a2b24fa960 EKF: Protect against ground effect induced static pressure rise during landing and takeoff. 
Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
 2017-11-17 21:41:31 +11:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
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
Roman a0ab5cf0d7 ekf vel_pos_fusion: added height sensor offset to range innovation calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Paul Riseborough 3dadc98b43 EKF: enable scaling of range observation variance with height 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
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 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 52f6eea52b EKF: capture position and velocity innovation test failures 2016-06-01 17:13:00 +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 00bada8f25 EKF: Clean up logic for horizontal position fusion 
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
 2016-05-27 11:29:10 +10:00
Paul Riseborough 6f412a73b4 EKF: Use correct height gate when using external vision 2016-05-27 11:24:53 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Paul Riseborough e272d5f003 EKF: Use consistent position noise values during alignment 2016-05-18 20:11:08 +10:00
Paul Riseborough 349c731375 EKF: remove PX4 dependant text output 2016-05-14 21:17:29 +10:00
Paul Riseborough ac9b7a3df6 EKF: Ensure use of EV aiding inhibits use of other height sources 2016-05-14 21:17:29 +10:00
devbharat d3bad9fdb0 Correct height fusion flag when using sensor other than baro 2016-05-14 21:17:29 +10:00
Paul Riseborough 25f1d1d766 EKF: Add fusion of external vision 3D pos data 2016-05-14 21:17:29 +10:00
Paul Riseborough feb4db6347 EKF: protect against large IMU errors during initial tilt alignment 
Turn off innovation consistency checks for height and synthetic position measurements until the tilt as aligned
 2016-05-08 17:54:45 +10:00
Paul Riseborough 00973d6215 EKF: fix pos/vel fusion innovation variance bug 2016-05-08 17:51:47 +10:00
Paul Riseborough 020b87933e EKF: replace fault status struct with a union to facilitate logging 2016-05-07 21:11:16 +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 310bd97080 EKF: Improve protection against bad pos vel fusion 2016-05-07 14:22:59 +10:00
Paul Riseborough 727a43764f EKF: update initial angle alignment check 2016-05-05 21:23:03 +10:00
Paul Riseborough 82da832816 EKF: tidy up Kalman gain calculations 
Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
 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
Daniel Agar 22d18d638c enable Wshadow 2016-05-04 19:45:40 -04:00