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1459 Commits

Author SHA1 Message Date
Daniel Agar eddee193d1 update matrix git tag to latest 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 67512d88ea Update matrix library for CI 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
RomanBapst 62fa464e4d WindEstimator: added support for pre-set airspeed scale factor 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer a7d9c73d4d Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-08 09:15:25 +02:00
Silvan Fuhrer 09f29dbb07 added option to fix airspeed scaling to 1 2019-08-08 09:15:25 +02:00
Jaeyoung-Lim d38164fc8e Fix flag for initialization 2019-07-22 10:24:51 +02:00
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
Daniel Agar cd34ab802d mathlib delete floorf in favor of math.h 2019-05-28 19:42:59 +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
Matthias Grob 90b4c7c065 mathlib: fix floorf indentation 2019-05-24 09:56:12 +02:00
Sebastian Verling 710c52980e fixed calculation of magentic table values by using floor instead of int casting 2019-05-24 09:09:26 +02:00
Beat Küng 54ac147ae8 Ekf: add set_min_required_gps_health_time() to allow configure minimum GPS health time 
This does not change the default of 10 seconds.
 2019-05-15 09:00:24 +01:00
Roman 770cd3c5cc added python script for terrain flow derivation (optical flow for terrain 
height estimation)

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman c085d7295d addressed review comments 2019-05-15 17:16:36 +10:00
Roman 8673ab0346 terrain estimator: constrain terrain state properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Roman fbb51147b7 implemented use of optical flow for terrain estimation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-05-15 17:16:36 +10:00
Hamish Willee a27a43eafa Fix up link to EKF docs 2019-05-01 00:36:29 -05:00
Mohammed Kabir 3f691891c4 EKF: control: stop vision yaw fusion on timeout 2019-04-22 12:56:24 +10:00
Martina c4492b17c1 do not reset yaw if vehicle on ground 2019-04-09 20:50:37 +10:00
Julian Oes 14227eaf1d CMakeLists.txt: fix cmake warning 
This removes the cmake warning:
  implicitly converting 'string' to 'STRING' type.
 2019-04-08 09:54:47 -04:00
Paul Riseborough f97f0b6ea3 EKF: Remove unnecessary code 
_flt_mag_align_start_time is set on initial alignment and will always be >0 before this check can run
 2019-04-08 06:57:17 +10:00
Paul Riseborough 43b5e26fe4 EKF: Fix bug causing continual yaw reset when EKF2_MAG_TYPE = 2 2019-04-08 06:57:17 +10:00
Roman f95cd4b358 ground effect: removed dependency on local position 
Signed-off-by: Roman <bapstroman@gmail.com>
 2019-03-19 13:14:57 +11:00
CarlOlsson 7845ff4360 EKF: increase wind process noise scaler to 0.5 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-19 13:10:12 +11:00