e388e59f32
EKF: use uint64_t cast for XeY to avoid float casting of variables
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The default type for XeY is float
2017-11-08 11:40:26 +01:00
bba3f70a0e
EKF: reduce prediction time step from 12 to 8 sec
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Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
2017-11-02 09:27:33 +01:00
063533afae
EKF: Add method to enable the IMU bias states to be reset externally
2017-10-26 10:41:39 +11:00
cd2ca57ec2
Merge pull request #339 from PX4/ekfPosCtrlLimits-wip
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Ekf pos ctrl limits wip
2017-10-23 06:57:23 +11:00
79995b2c15
Create total energy control system implementation
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This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
2017-10-22 20:37:40 +02:00
e10ec59058
EKF: Use consistent test for navigation validity reporting
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This will enable controller to take advantage of non-inertial dead reckoning.
2017-10-20 14:44:38 +11:00
19074fdd9e
EKF: Use consistent time limit for inertial dead reckoning test
2017-10-20 14:44:38 +11:00
55a2dc94df
EKF: handle air data fusion covariance reset consistently
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Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.
2017-10-20 14:44:37 +11:00
0d32128701
EKF: Use dead-reckoning status to determine if air data should modify non-wind states
2017-10-20 14:44:37 +11:00
e4ffe199ed
EKF: fix bug in sideslip fusion activation
2017-10-20 14:44:37 +11:00
59f1c3e19e
EKF: Update dead-reckoning definition
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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
a2dcd5b9b6
EKF: Consolidate no aiding reset logic
2017-10-20 14:44:37 +11:00
929c5c2b37
EKF: enable gps fusion flag to be false while fusing air data
2017-10-20 14:44:37 +11:00
204a218ee6
EKF: Allow dead-reckoning using air data
2017-10-20 14:22:06 +11:00
f5fd90533a
fix gps and flow flag handling
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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
9857fb9eb6
EKF: publish control limits for optical flow navigation
2017-10-20 14:22:06 +11:00
2e03084d34
EKF: If aligning yaw for fw with low GPS velocity, use mag
2017-10-19 16:49:54 +02:00
c81cdfa1ce
EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-17 15:08:09 +02:00
8c83167857
EKF: fixed comment
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-17 11:41:55 +02:00
32b795ee10
EKF: Add readme file to EKF documentation directory
2017-10-13 21:46:41 +11:00
8dd4800a2c
EKF: Add preliminary documentation for filter mathematics
2017-10-13 21:34:49 +11:00
dbff89fbcb
EKF: Fix error preventing selection of MAG_FUSE_TYPE_AUTOFW
2017-10-12 19:54:35 +11:00
6f7f05fdc0
EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place
2017-10-12 14:50:23 +11:00
e834522f62
EKF: Use fixed wing status flag in MAG_FUSE_TYPE_AUTOFW logic
2017-10-12 14:50:23 +11:00
7b4c957ad4
ekf2: Add new mag fusion mode
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Adds a mode where mag fusion is only used update the field estimates
2017-10-12 14:50:23 +11:00
9c65968c3d
Merge pull request #334 from PX4/pr-ekf_minor_flow_fix
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ekf: fix optical flow bugs
2017-10-12 09:14:29 +11:00
68bad48598
Merge pull request #330 from CarlOlsson/pr-add_get_wind_vel_var
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EKF: added get_wind_velocity_var function
2017-10-12 09:12:54 +11:00
4db23b7b2e
EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks
2017-10-12 08:26:04 +11:00
1119a9b0ac
EKF: Enable optical flow reversion to work if flow data is lost
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Also improve reporting.
2017-10-12 08:02:54 +11:00
cdf6e6cd36
EKF: use delta_time to avoid division by zero
2017-10-11 15:15:06 +02:00
d293c4231d
EKF: Protect against divide by zero caused by invalid optical flow
2017-10-11 21:54:47 +11:00
ab9b8e1964
EKF: Prevent bad optical flow quality causing loss of aiding when on ground
2017-10-11 21:22:33 +11:00
b7e589b98a
EKF: only fuse optical flow if terrain is valid
2017-10-10 17:51:56 +02:00
81a64c0479
ekf: fix flow direction when on ground
2017-10-10 14:39:44 +02:00
6cb99ce8a8
ekf: add function to get in air status
2017-10-03 22:36:33 +02:00
8200e4b218
EKF: added get_wind_velocity_var function
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-10-02 14:47:56 +02:00
0a7c3ecbc6
EKF: Parameterize maximum angle for rng fusion
2017-09-26 20:53:48 +02:00
160e4d69c1
Merge pull request #323 from PX4/pr-ekfQuatMultOrder
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EKF: use hamiltonian convention for quaternion multiplication order
2017-09-21 07:49:35 +10:00
1d3e8edc46
EKF: Fix bug in accumulation of IMU data for flow sensor gyro bias calculation
2017-09-14 18:34:11 +10:00
dd5b8525c3
EKF: Use hamiltonian convention for quaternion product order
2017-08-31 11:14:02 +02:00
b0300b9723
Revert "attitude_fw delete unused and cleanup"
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This reverts commit 25bd3ac5e6
2017-08-30 16:23:40 +02:00
25bd3ac5e6
attitude_fw delete unused and cleanup
2017-08-26 17:44:24 -04:00
99ba1c3745
EKF trivial code style cleanup
2017-08-25 10:09:11 -04:00
89236ef275
Merge pull request #314 from PX4/pr-check_stuck_rng
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Pr check stuck rng
2017-08-21 07:54:06 +02:00
305a95aef9
Integrate Python-based tests and benchmark into Travis
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* Unfortunately, due to the SWIG dependency, we need sudo to install on
Travis (conflicts when adding with debian-sid source prevent using addons)
which means we cannot use the container-based infrastructure anymore.
* Building the Python bindings requires g++5 (at least with -Werr set).
* When building the Python bindings on Travis, the numpy includes are not found
by cmake, so they have to be added separately by running a Python process with
`numpy.get_include()`
* The build script now (somewhat clumsily) depends on the RUN_PYTEST environment
variable. If it is set to anything other than "", it will make the tests and
run tests and benchmarks
2017-08-14 12:02:03 +02:00
15c8c24418
Fix time units on plots
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* Time in plots was of by a factor of 1e3 due to wrong conversion from us.
2017-08-14 12:02:03 +02:00
b29067a188
Better handle Python dependencies
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* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
user if necessary.
2017-08-14 12:02:03 +02:00
bb5719a0da
Add Python wrapper to ecl and use it to test functionality
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* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
2017-08-14 12:02:03 +02:00
5988900044
Add getters for a few private variables of the EstimatorInterface
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* For testing it is useful to have access to more internal states
* For the same reason I also promote the const FILTER_UPDATE_PERIOD_MS to
public
2017-08-14 12:02:03 +02:00
a2ed0a76f9
Make the destructor of EstimatorInterface virtual
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* This is a sane choice (and should arguably always be done for classes with
virtual methods to avoid undefined behavior)
* It is required for wrapping the EstimatorInterface with SWIG (without virtual
destructor, deriving from the EstimatorInterface leads to
-Werror=delete-non-virtual-dtor).
2017-08-14 12:02:03 +02:00
ChristophTobler
Paul Riseborough
Paul Riseborough
CarlOlsson
Daniel Agar
ChristophTobler
Peter Dürr