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Code Pull Requests Activity
108 Commits 514 Branches 136 Tags 234 MiB
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30 Commits

Author SHA1 Message Date
Paul Riseborough fff2bd50f6 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-10 15:16:05 +11:00
Paul Riseborough 40e174b81c EKF: Correct for sensor noise and baro offset during alignment 2016-02-10 10:25:27 +11:00
Paul Riseborough 47ab5ebcdd EKF: Make PR comply with project convention for indenting 2016-02-08 15:12:38 +11:00
Paul Riseborough dbb8e12948 EKF: Add fusion method to constrain declination when unobservable 
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the  field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
 2016-02-08 14:18:43 +11:00
Paul Riseborough 3f81eb7d1b EKF: fix formatting 2016-02-04 17:15:03 +11:00
Lorenz Meier b21a49b3f9 EKF: Use standard C++ initializers 2016-01-31 23:24:36 +01:00
Roman b749a7557b fixed typos 2016-01-31 21:36:58 +01:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -08:00
bugobliterator b05e2d825c EKF: move estimator specific initialisations to estimator core 2016-01-30 12:42:24 -08:00
Paul Riseborough 466a104534 EKF: additional GPS check logic 
Improve naming of NED origin initialisation status
Add check for GPS solution type
Use GPS checks when regaining GPs in-flight
 2016-01-30 12:21:39 -08:00
bugobliterator a779d45cd0 ekf2: fix bug causing faulty imu data storage 2016-01-29 23:56:24 -08:00
bugobliterator 001d621eb1 EKF: move imu data processing code to estimator core 2016-01-29 20:03:25 -08:00
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00
Paul Riseborough 802129f384 EKF: Add magnetometer fusion error handling 2016-01-28 09:53:55 +11:00
Paul Riseborough 39eef3a2d7 EKF: Remove use of camel case variable names 
Also fixes bug in GPS speed accuracy check that was using horizontal position accuracy variable by mistake.
 2016-01-28 08:37:45 +11:00
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