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Code Pull Requests Activity
294 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

68 Commits

Author SHA1 Message Date
Paul Riseborough e89dbb9f63 EKF: correct GPS data for antenna position offset 2016-04-12 11:14:31 +10:00
Paul Riseborough eaf94935f0 EKF: Fix bug in initialisation of height and magnetic field 
This prevents zero data being used to form the initial height and magnetic field.
Do not start sampling initial values until non-zero time values are retrieved from the buffer.
 2016-04-05 22:23:37 +02:00
Roman Bapst 27b894540e put airspeed fusion logic but don't actually call it yet 2016-03-30 17:01:03 +02:00
CarlOlsson f5a9afd278 moved init 2016-03-30 17:01:03 +02:00
CarlOlsson 4301e1105b added commas 2016-03-30 17:01:03 +02:00
CarlOlsson 0918fa04c7 adopted ekf.cpp 2016-03-30 17:01:03 +02:00
CarlOlsson 0fb1e0578b added function for fusing airspeed 2016-03-30 17:01:03 +02:00
Paul Riseborough c23d72ba29 EKF: Ensure filter control modes are correctly initialised 2016-03-16 17:22:27 +11:00
Paul Riseborough 9f3b1351f7 EKF: Don't initialise velocity to GPS on initial alignment 
For initial alignment the velocity and position should start at zero
 2016-03-16 17:20:57 +11:00
Paul Riseborough e334a5dc57 EKF: Add check for NaN's on attitude states 2016-03-16 13:43:21 +11:00
Paul Riseborough 6b2e2dba90 EKF: Add GPS height option and improve height recovery 2016-03-16 10:40:51 +11:00
Paul Riseborough 63b0cf4360 EKF: Fix baro height offset bug 2016-03-14 15:51:15 +11:00
Paul Riseborough 49023f3d7e EKF: fix travis build error 2016-03-13 21:56:28 +11:00
Paul Riseborough 7677a162aa EKF: Don't start the output observer before the main filter has initialised 
This prevents the possibility of output transients if alignment is delayed.
 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 cc5512905a EKF: prevent optical flow, GPS and baro fusion from blocking each other 2016-03-11 11:03:43 +11:00
Paul Riseborough ffebaf384f EKF: Set initial optical flow fusion monitor outputs to zero 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
Paul Riseborough d5e47d21db EKF: miscellaneous comment and format changes 2016-03-01 15:35:45 +11:00
mcsauder 5fb48a2e7b Merge remote-tracking branch 'upstream/master' 2016-02-25 22:51:58 -07:00
mcsauder 5fec0df70d Additional initializations required to reset complimentary filter values if the state estimate ever diverges and requires re-initiailization. 2016-02-25 22:51:14 -07:00
Paul Riseborough 36affe3cd8 EKF: Fix bug causing incorrect initial roll when inverted 2016-02-24 11:56:12 +11:00
mcsauder 342010c113 Update c style array initialization to attempt to pass Travic CI build tests. 2016-02-23 15:52:02 -07:00
mcsauder 48e80e9e3e Correct C style array initialization. 2016-02-23 15:16:40 -07:00
mcsauder ccb5736353 Spaces to tab. 2016-02-23 19:58:30 -07:00
mcsauder a4cecb1704 Match variable initialization order difference with upstream. 2016-02-23 19:57:27 -07:00
mcsauder 79d07c831f Convert spaces to tabs to match upstream. 2016-02-23 19:53:55 -07:00
mcsauder 6c96f45f08 Remove whitespace differences with upstream for pull request. 2016-02-23 19:49:27 -07:00
mcsauder fad1c87631 Merge upstream and resolve merge conflicts. 2016-02-23 19:29:30 -07:00
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
mcsauder 72243c4a84 Resolve tab/space differences with upstream master. 2016-02-18 03:28:40 -07:00
mcsauder 437f6ca5fb Moved initialization to object constructors to allow C99 compiler compatibility. 2016-02-18 03:21:04 -07:00
Paul Riseborough c089079321 EKF: Split tilt and yaw align 2016-02-14 22:01:53 +01:00
Paul Riseborough aa58b3e98c EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function 2016-02-14 22:01:53 +01:00
Roman ce0ddc0207 -added comments 
-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
 2016-02-14 09:49:26 +01:00
Paul Riseborough 9d7340e187 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.
 2016-02-14 09:49:26 +01:00
Paul Riseborough da1de2cc4d EKF: Correct for sensor noise and baro offset during alignment 2016-02-14 09:49:26 +01:00
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