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971 Commits

Author SHA1 Message Date
Paul Riseborough eae6e8f19c EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4 2019-10-08 20:08:42 +11:00
RomanBapst 4e946d5bcb implemented synthesized magnetometer Z measurement 
- calculate a theoretical value based on the knowledge of the direction
and strength of the magnetic field vector and X/Y sensor measurements
- needs knowledge about location on earth to work
 2019-10-08 20:02:16 +11:00
kamilritz f005e0ea8f Remove deprecated ev_innov_gate param 2019-09-27 10:00:45 -04:00
kritz 4a38f5a2f6 Add timestamp to ECL print statements, (#644) 
which is helpful for EKF replay debugging.
 2019-09-25 11:24:42 +02:00
kritz bb88d4ce5e Undo wrong comment change 2019-09-24 08:50:29 +10:00
Kamil Ritz 562731936a Update quaternion direction in documentation pdf 2019-09-24 08:50:29 +10:00
kamilritz 8c061fb6a4 Fixing wrong label of quaternion direction 2019-09-24 08:50:29 +10:00
Jannik Beyerstedt fe3fec413c fix #595 and add new all-in-one conversion script (PX4 only) 2019-09-24 08:20:16 +10:00
kamilritz 83eb326076 Missing posNED 2019-09-24 07:48:46 +10:00
kamilritz fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz 4f6ca3a74c Replace rest of spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz cea053820d Remove spaces with tabs 2019-09-24 07:48:46 +10:00
kamilritz 1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz 10cbd79db7 Rotate external vision info in reset function if necessary 2019-09-24 07:48:46 +10:00
kamilritz 4511b9ff5e Add missing checks for flags.ev_vel 2019-09-24 07:48:46 +10:00
kamilritz e7d927c899 Stop using bad GPS when we have vision velocity 2019-09-24 07:48:46 +10:00
kamilritz bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz 4b30de587f Make vel_pos innov gate variable name clearer 2019-09-24 07:48:46 +10:00
kamilritz 4237d7ccd7 Improve external vision position fusion 2019-09-24 07:48:46 +10:00
kamilritz 3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
kamilritz 149233a9ab Add velocity observations to external vision interface 2019-09-24 07:48:46 +10:00
Matthias Grob 62a1e07512 ecl_EKF: Do not include SquareMatrix from Matrix library 
because the template of upper_right_triangle() contains /2 and
swig fails to create a wrapper for that (suddenly)
 2019-09-18 08:42:58 +02:00
Julian Kent 4c4c1f2984 Use copyTo for writing to memory blocks 2019-09-18 08:42:58 +02:00
Julian Kent 8cc8db211c Fix copy_quaternion reference in code generation 2019-09-18 08:42:58 +02:00
Julian Kent 8d60f8ba8f Remove direct unsafe access to matrix internal data 2019-09-18 08:42:58 +02:00
Nico van Duijn c446ee444a EKF: fake rng if faulty on ground 2019-09-18 10:15:37 +10:00
Andreas Antener 4f19d457c4 ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active 2019-09-18 09:27:24 +10:00
Jan Brehmer 93eb1266f6 EKF: reset position when stopping GPS use and EV is active 2019-09-18 08:33:40 +10:00
Nico van Duijn 267195a11b EKF: remove check for faulty flag in fake rng 
This removes the check for _rng_hgt_faulty in the decision of publishing
a fake range measurement. The reason for this is that some distance sensors
don't populate the quality flag, even if they are saturated. Hence, if we
are on the ground and not moving, it is safe to publish a fake measurement
of the distance sensor and overwrite the actual sensor data.
 2019-09-12 17:45:37 +10:00
Nico van Duijn 933189eac0 EKF: fix rng_faulty flag when sensor is stuck 2019-09-12 17:45:37 +10:00
Nico van Duijn 640e41cba7 EKF: change rangeSample quality to int8_t 2019-09-12 17:45:37 +10:00
Nico van Duijn a12186c285 terrain_estimator: introduce quality metric in rng 
This commit introduces a quality measure in the range data. It is
used to properly decide whether to initialize the HAGL estimate on
 sensor data or MIN_HGT parameter, as well as in the decision of
whether a 'fake' measurement should be published on the ground to
allow for optical flow take-offs.
 2019-09-12 17:45:37 +10:00
Paul Riseborough 3e05fd552e EKF: Compensate for bad range finder data when on ground 2019-09-12 17:45:37 +10:00
bresch 3b32ee4166 Flow aiding - Reset state when flow is enabled only if it is the only 
position/velocity aiding sensor.
Until now, it was alway resetting if the vehicle does not have gps or
external vision. This caused a reset/glitch at every stop (when range data gets
valid)
 2019-09-03 09:58:33 +02:00
kamilritz be368f3656 Update comment 2019-08-29 08:34:10 +10:00
kamilritz c5abfe626f remove canonicalize and adapt comments 2019-08-29 08:34:10 +10:00
kamilritz a2ff415fe4 Fix get frame aligning quaternion function 2019-08-29 08:34:10 +10:00
kamilritz 53eac6e94e Canonicalize alignment quaternion 2019-08-29 08:34:10 +10:00
kamilritz 933c32c921 Enable local frame alignment also without using it 2019-08-29 08:34:10 +10:00
kamilritz ea352a6631 Dont use mag suffix for magnitude 2019-08-29 08:34:10 +10:00
kamilritz 05196db79e Fix alignment of local frame 2019-08-29 08:34:10 +10:00
bresch e1751188fd EKF - Initialize _deadrekon_time_exceeded to true. 
If no sample have been received, deadrekoning and local position should be invalid.
 2019-06-28 10:52:52 -04:00
Paul Riseborough a036cf82cc EKF: Remove use of of quaternion self product operator and fix delta rotation sign 2019-06-17 19:24:55 +10:00
Paul Riseborough 0e946f25fd EKF: Remove use of quaternion self product operator and fix delta rotation sign error 2019-06-17 19:24:55 +10:00
CarlOlsson ad7f7af03b ekf: correct quaternion multiplication order 2019-06-17 19:24:55 +10:00
CarlOlsson d6351bd7a5 EKF: update comment 2019-06-17 19:24:55 +10:00
Paul Riseborough 7612fa40ed EKF: Don't start using GPS for height until all validity checks have passed 
Consolidate intermittent data checks, improve variable and clarify usage.
 2019-06-13 19:36:37 +10:00
Roman cef2ba5ab9 implemented Kahan summation algorithm for adding process noise to delta 
angle- and delta velocity bias variance

- the contribution of process noise per iteration for these states can be so
small that it gets lost if using standard floating point summation

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-06-11 19:28:06 +10:00
RomanBapst 0f49eb34a0 fixed method which calculates validity of terrain estimate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-05-28 19:43:13 +10:00
Robert de Vries 340d85afc1 EKF: fix variable names in estimator_interface.h 
This fixes issue #566
 2019-05-27 17:39:42 -04:00