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519 Commits

Author SHA1 Message Date
Paul Riseborough d94068b88a EKF: Simplify calculation of height above terrain observation variance 
The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
 2017-02-22 14:12:05 +01:00
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
devbharat d9688fae7d EKF: Simplify terrain position validity check 
Remove the relative accuracy check that was false triggering close to ground
 2017-02-22 14:12:05 +01:00
Paul Riseborough af26ade1ce EKF: Use norm for vector length everywhere 2017-02-22 14:12:05 +01:00
Paul Riseborough 6e5a9aabe1 Merge pull request #234 from PX4/pr-optFlowUpdates 
EKF: optical flow improvements
 2017-02-22 09:00:48 +11:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Daniel Agar 7883085e4a clang-tidy readability-simplify-boolean-expr (#235) 2017-02-02 00:17:43 -05:00
Daniel Agar 47b8ef258b clang-tidy performance-type-promotion-in-math-fn (#236) 2017-02-02 00:17:08 -05:00
Paul Riseborough bcf7cac5d9 EKF: remove hardcoded limit on optical flow time delta 
Allow for up to 50% lost data.
 2017-01-18 06:06:45 +11:00
Paul Riseborough 3fb7effb0c EKF: Allow optical flow use when on-ground with poor data quality 2017-01-18 06:06:45 +11:00
Paul Riseborough 21270bb06a EKF: Use last known position when resuming OF aiding 2017-01-17 08:58:01 +11:00
Lorenz Meier 453bde73f8 ECL: Simplify / correct estimator interface 2017-01-15 10:17:41 +01:00
Roman c5a55d97aa initialise data members properly 
- dot not use memset for struct with non POD types

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-01-15 10:02:31 +01:00
Paul Riseborough 1465adca2f EKF: Improve use of memcpy 
Changes made to remove Coverity scan errors
 2017-01-15 10:02:31 +01:00
Paul Riseborough 26a06567bb EKF: add missing initialisation for class variables 2017-01-15 10:02:31 +01:00
Paul Riseborough f999729d70 EKF: fix incorrect use of memcpy 2017-01-15 10:02:31 +01:00
Paul Riseborough b536382ae1 EKF: remove dead code 2017-01-15 10:02:31 +01:00
Paul Riseborough 6358bbd257 EKF: remove self assignment 2017-01-15 10:02:31 +01:00
Paul Riseborough 3b61528f0f EKF3: initialise default value for EV fusion gate 2017-01-15 10:02:31 +01:00
Paul Riseborough 9ddcba3ed0 EKF: remove un-used variable 2017-01-15 10:02:31 +01:00
Daniel Agar d668a2d798 clang-tidy performance-unnecessary-value-param 2017-01-14 16:26:25 -08:00
Daniel Agar a7cdef6c5c clang-tidy modernize-redundant-void-arg 2017-01-14 16:24:45 -08:00
Paul Riseborough 3c4c09593f EKF: Rationalise console messages 
Combine the observation action buffer and alignment messages
Ensure all data timeout messages are warnings.
Use consistent terminology.
 2016-12-28 10:39:47 +01:00
Paul Riseborough 934890c2df EKF: Add validity flag to ekf origin reporting 
Flag is false until the origin has been initialised
 2016-12-28 00:56:09 +01:00
Lorenz Meier bf8a9a3d09 EKF: Whitespace fixes 2016-12-17 13:45:28 +01:00
Paul Riseborough a776b2c549 EKF: Fix bug preventing reset to GPS position when using optical flow 2016-11-26 10:28:58 +01:00
Paul Riseborough 460c9e5250 EKF: Don't try to fuse air data if not in normal aiding mode 
Taking off before passing GPS checks would cause airspeed or sideslip to be fused when the filter was still using a constant position assumption. This would cause large airspeed innovations, invalid wind estimates and degrade filter performance after GPS was gained and position and velocity was reset.
 2016-11-26 10:28:58 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Paul Riseborough afd6e54b2a EKF: Allow for worst case timing jitter when setting observation buffer length 2016-11-07 11:50:16 +11:00
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