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275 Commits

Author SHA1 Message Date
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
Paul Riseborough 8aee45dd96 EKF: Fix bug causing repeated resets if GPS sensor disconnected 2016-11-05 09:36:06 +11:00
Paul Riseborough 968cfae632 EKF: Fix bug preventing fallback from GPS mode if GPS is lost 2016-10-25 08:32:01 +11:00
Roman 63cf3d50be ekf gps reset: do not bother checking for need of reset if gps is not 
available

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-24 11:45:36 +02:00
Roman c5f750dcca ekf reset: more granular reset / timeout strategy for gps fusion 
- if both gps position and velocity measurements are rejected for 7 seconds
do a reset
- if only gps position measurements are rejected then wait for 14 seconds
as we still have velocity measurements to constrain the drift in position
- introduced ecl internal parameter for the timeout

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-24 11:40:12 +02:00
Roman f80b3481a4 reset the newest output sample for all possible resets 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-12 08:54:38 +02:00
CarlOlsson 51c8715638 fixed issue with airspeed never fused 2016-08-11 15:26:21 +02:00
Paul Riseborough d1d56d9e5e EKF: Add logic to to control wind state estimation 2016-08-11 15:26:21 +02:00
Roman Bapst df0f8fed45 fixed wrong condition on which gps height would be fused (#180) 
- this solves the issue where height innovations would jump
between two regimes

Signed-off-by: Roman <bapstroman@gmail.com>
 2016-08-05 14:45:48 +02:00
Paul Riseborough eb2afc522d EKF: fix bug preventing use of baro as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 573f252b73 EKF: fix bug preventing GPS use as a backup height source 2016-06-30 17:06:32 +10:00
Paul Riseborough 5f9752cac8 EKF: Improve function names 2016-06-30 17:06:32 +10:00
Paul Riseborough 7bc9217f00 EKF: Clean up control of observation fusion 
All the decision for a sensor are made within a specific function for that sensor and when there is data to process at the fusion time horizon.
Information and warning messages are improved.
 2016-06-30 17:06:32 +10:00
Paul Riseborough 3c84d37175 Merge pull request #156 from PX4/fix_printfs 
EKF: use ECL printfs everywhere
 2016-06-07 09:45:00 +10:00
Paul Riseborough 081e17729c EKF: delay commencement of 3D mag fusion until clear of ground 
Wait until enough height has been gained to be clear of ground based magnetic anomalies. Failure to do so can result in incorrect earth field initialisation.
 2016-06-06 21:59:46 +10:00
Paul Riseborough f08aee0a7d EKF: Fix covariance index bug 2016-06-04 00:36:07 +10:00
Julian Oes b8e2f79005 EKF: correct include paths 2016-06-02 16:29:22 +01:00
Julian Oes ecfd8c867a EKF: use ECL printfs everywhere 
- Changes all printfs to ECL printfs
- Add ECL_ERR.
- Include ecl.h where needed.
- Add forgotten pragma once.
 2016-06-02 16:07:26 +01:00
Paul Riseborough 6a55d908c5 EKF: replace reset event times with event counters 
Using a 64bit integer was unnecessary given it was only being used to detect a new reset event.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 3ec9221c18 EKF: update output observer and capture reset event for EV yaw resets 2016-06-01 17:13:00 +10:00
Paul Riseborough 9f81b8f09e EKF: provide reset protection for external vision height 2016-05-27 13:15:53 +10:00
Paul Riseborough 1b6c5bbafd EKF: Enable height source to be selected independent of EV aiding 2016-05-27 13:14:52 +10:00
Carl Olsson 0fafc49a49 fixed typos (#147) 2016-05-22 17:40:43 +02:00
Paul Riseborough c1b02eaa91 EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned 2016-05-18 21:06:45 +10:00
Paul Riseborough aaac867da8 EKF: Adjust tilt alignment threshold 2016-05-18 20:34:12 +10:00
Paul Riseborough 1540e937b1 EKF: Improve tilt alignment monitoring 
Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
 2016-05-17 11:17:24 +10:00
Paul Riseborough 920d83d68c EKF: Fix bugs preventing use of external vision yaw data 2016-05-14 21:56:41 +10:00
Paul Riseborough 13c3a95bc1 EKF: Add missing line returns 2016-05-14 21:17:30 +10:00
Paul Riseborough b985e58333 EKF: clean up control function 
With the addition of new observation types, the control function has become too large and needed be broken up into separate functions
 2016-05-14 21:17:29 +10:00
Paul Riseborough f4a0f69f6e EKF: print to console when starting EV fusion 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
Paul Riseborough e917d6c7f2 EKF: Add fusion of external yaw data 2016-05-14 21:17:29 +10:00
Paul Riseborough 37a09c61bc EKF: Don't use delayed data to start EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 81469d6621 EKF: Add position, height and velocity reset for EV aiding 2016-05-14 21:17:29 +10:00
Paul Riseborough 481c624975 EKF: Remove use of vehicle arm status 
Use single externally set in-air status for all decisions
 2016-05-10 10:23:08 +10:00
Paul Riseborough 161ac2e051 EKF: ensure position co-variances are reset 
When transitioning into optical flow nav  from a non-aiding condition during ground operation, ensure position covariances are reset as they could be invalid.
 2016-05-08 18:03:09 +10:00
Paul Riseborough 724280fd1f EKF: move calculation of optical flow observation variance into a function 
Allows it to be used when calculating initial state variance
 2016-05-08 15:40:06 +10:00
Paul Riseborough 25682dce91 EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow 2016-05-08 10:30:40 +10:00
Paul Riseborough da9d894441 EKF: Improvements to covariance reset 2016-05-07 12:57:41 +10:00
Paul Riseborough a7d08d08fc EKF: Relax tilt alignment check 2016-05-05 21:23:03 +10:00
Paul Riseborough 727a43764f EKF: update initial angle alignment check 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
Paul Riseborough 3e81b86280 EKF: improve height reset logic 
Don't use failed sensors unless necessary and handle case where not height sensor is available for reset
 2016-04-22 10:50:53 +10:00
Paul Riseborough 874558d194 EKF: improve detection of bad vert accel data 
Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
 2016-04-22 09:24:04 +10:00
Paul Riseborough e3365525c2 EKF: rework height reset logic 2016-04-22 08:39:24 +10:00
Paul Riseborough a7417657c3 EKF: ensure fusion timeout counters are reset when required 2016-04-22 08:33:11 +10:00
Roman Bapst 99fc61c27c ekf2 airspeed fusion: 
- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
 2016-04-19 09:53:31 +02:00
Paul Riseborough 006b6b58e4 EKF: fix bug in status print statement 2016-04-12 10:38:50 +10:00
Lorenz Meier f86ef34782 EKF: Fix error message which lied 2016-04-05 19:06:35 -07:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough d2407c3463 EKF: code style updates 2016-03-13 21:17:51 +11:00
Paul Riseborough c58ab3e256 EKF: Enable fallback to baro alt when using range finder for height 2016-03-13 21:17:51 +11:00
Paul Riseborough 370f643f42 EKF: Enable use of range finder for primary height source 2016-03-13 18:44:34 +11:00
Paul Riseborough 109e0e6dfc EKF: When commencing GPS aiding, don't reset local position and velocity if using optical flow 2016-03-11 11:03:43 +11:00
Paul Riseborough d97d308ca7 EKF: Add control of optical flow and range finder fusion 2016-03-11 11:03:43 +11:00
Roman Bapst b2744f965d use in_air flag from land detector to determine if we are on the ground 2016-03-03 10:53:39 +01:00
Paul Riseborough d8627c6aaf EKF: Reset the vertical position states if height fusion times out 2016-03-02 08:39:07 +01:00
Paul Riseborough d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
Paul Riseborough 7c83ac4b6d EKF: Use heading fusion as default for startup and ground operation 2016-03-01 15:35:17 +11:00
Paul Riseborough 5b5bddebea EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode 2016-02-25 08:16:42 +11:00
Paul Riseborough 2d09a5f3ac EKF: Don't reset yaw and mag field states when not necessary 2016-02-25 08:16:42 +11:00
Paul Riseborough a711632017 EKF: Add method to fuse horizontal magnetometer data 
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
 2016-02-20 19:45:32 +11:00
Paul Riseborough d9bf4e9870 EKF: Enable control mode transitions to be detected 
Save the previous value of the filter control modes
 2016-02-16 11:08:30 +11:00
Paul Riseborough 7da40a45a4 EKF: Add control mode for wind state estimation 2016-02-16 11:08:30 +11:00
Paul Riseborough dba58aa4c6 EKF: Add control logic for fusion modes 2016-02-14 22:01:53 +01:00
Paul Riseborough 22c177c951 EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode 2016-02-14 22:01:53 +01:00
Paul Riseborough c089079321 EKF: Split tilt and yaw align 2016-02-14 22:01:53 +01:00
Paul Riseborough 020cc5978e EKF: Move calculation of declination into a separate function 2016-02-14 22:01:53 +01:00
Paul Riseborough 5ea0ef39cd EKF: Update declination fusion logic 
We do not need to run declination fusion if 3-axis mag fusion is not being used.
 2016-02-09 07:54:24 +11:00
Paul Riseborough 47ab5ebcdd EKF: Make PR comply with project convention for indenting 2016-02-08 15:12:38 +11:00
Paul Riseborough cdc42c1de0 EKF: Add simple control logic for magnetic declination constraint 2016-02-08 14:18:43 +11:00
bugobliterator d79e12dfa1 EKF: fix code style 2016-01-31 00:12:16 -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
Paul Riseborough 46b0e9654c Add filter control logic 2016-01-30 09:01:48 +11:00