73b8ac954d
ekf_helper.cpp: remove unused includes
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This fixes a compile error with GCC 5.2.0 and cross-compilation:
/usr/arm-none-eabi/include/c++/5.2.0/arm-none-eabi/armv7e-m/fpu/bits/error_constants.h:122:27: error: 'ENOTSUP' was not declared in this scope
not_supported = ENOTSUP,
The problem was that the #include <iomanip> was taken from the host system,
which conflicts with includes from NuttX (NuttX has only basic C++ STL
support)
2016-07-15 12:50:11 +02:00
f5e9ea1626
EKF: Prevent potential divide by zero
2016-06-30 17:06:32 +10:00
7bc9217f00
EKF: Clean up control of observation fusion
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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
bec1a6831e
added method to get gyro bias
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Signed-off-by: Roman Bapst <roman@px4.io>
2016-06-21 14:13:47 +02:00
703fb4e31b
do not return early in velocity reset method otherwise
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some code will not be executed
2016-06-08 07:51:18 +02:00
f26aca55a1
EKF: Fix bug in quaternion covariance initialisation function
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The covariances between quaternion and non-quaternion states were not being updated
2016-06-08 13:23:30 +10:00
6a55d908c5
EKF: replace reset event times with event counters
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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
9ec09f5f4e
EKF: update output observer and capture reset event for magnetic heading resets
2016-06-01 17:13:00 +10:00
aca0336392
EKF: update vertical position and velocity reset capture
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Use reset event struct members instead of separate variables
2016-06-01 17:13:00 +10:00
0605c88ecc
EKF: capture horizontal position reset events
2016-06-01 17:13:00 +10:00
e3a1b4a3b3
EKF: capture velocity reset events
2016-06-01 17:13:00 +10:00
79705da7e6
EKF: make output predictor states consistent with position reset
2016-06-01 17:13:00 +10:00
54d90261d5
EKF: make output predictor states consistent with velocity reset
2016-06-01 17:13:00 +10:00
ad02818b3d
EKF: Improve height reset for external vision
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reset to measurement closest in time to fusion time horizon
2016-05-27 14:00:50 +10:00
1b6c5bbafd
EKF: Enable height source to be selected independent of EV aiding
2016-05-27 13:14:52 +10:00
ae5071f668
EKF: Improve heading reset
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Improves reset of quaternion covariance matrix after a heading reset by preserving variance in roll and pitch and resetting yaw variance to the measurement variance.
2016-05-21 19:30:15 +10:00
94a63ec9d5
EKF: don't interfere with quaternion covariances during tilt alignment
2016-05-18 19:25:19 +10:00
e4b2e9c93d
EKF: Improve yaw alignment
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Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle.
Allows alignment of yaw angle using external vision data
2016-05-18 12:16:16 +10:00
57b2a256f7
EKF: Improve initialisation of quaternion covariances
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Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions.
Enable setting of initial angle uncertainty via a parameter
2016-05-17 12:47:20 +10:00
1540e937b1
EKF: Improve tilt alignment monitoring
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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
81469d6621
EKF: Add position, height and velocity reset for EV aiding
2016-05-14 21:17:29 +10:00
25682dce91
EKF: Prevent badly conditioned covariance calculation when starting or resetting to optical flow
2016-05-08 10:30:40 +10:00
7f5669fb2d
EKF: consolidate covariance corrections
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Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function.
This ensures a consistent correction is applied after every covariance prediction or correction.
2016-05-07 20:29:50 +10:00
da9d894441
EKF: Improvements to covariance reset
2016-05-07 12:57:41 +10:00
fe9f88a8b4
EKF: test new derivation
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Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
0c77ebf6bd
EKF: Reduce likelihood of bad covariance values after height resets
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The cross terms (covariances) are now reset before the variance variance is set.
The vertical velocity state variance following a reset without GPS has been reduced.
2016-05-01 21:39:56 +10:00
469a7d1711
EKF: rework height reset
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calculate and save the amount that the vertical states have changed and the time of the change
apply the change delta to the output observer states and buffer
2016-04-22 08:43:56 +10:00
2fa8a11a29
EKF: replace unnecessary memcopy
2016-04-19 19:10:41 +10:00
31bf342fc1
EKF: publish GPS check status
2016-04-19 17:38:22 +10:00
e10093854a
EKF: correct outputs for IMU offset
2016-04-12 11:14:31 +10:00
74078cde94
EKF: reset state variance when performing a height reset
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Set vertical position and velocity variances using known sensor error characteristics if we have reset the states to the sensor readings.
2016-04-11 19:40:27 +10:00
f4f108d57d
EKF: Reset vertical velocity when performing a height reset
2016-04-11 19:25:24 +10:00
f8878d41dc
adopted ekf_helper.cpp
2016-03-30 17:01:03 +02:00
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
c58ab3e256
EKF: Enable fallback to baro alt when using range finder for height
2016-03-13 21:17:51 +11:00
370f643f42
EKF: Enable use of range finder for primary height source
2016-03-13 18:44:34 +11:00
e0fcce1463
EKF: Make position and velocity reset publish success
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Some users of the position and velocity reset functions will need to know if the reset has been successful.
2016-03-11 11:03:43 +11:00
32b03819ef
EKF: Add function to calculate global position validity
2016-03-11 11:03:43 +11:00
270451e17b
EKF: Update height reset to support range finder height use
2016-03-11 11:03:43 +11:00
f7a53d69f2
EKF: Improve height reset function
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Add a method to reset the vertical velocity to enable in-flight resets
Reset to GPS height if baro height is not available.
2016-03-02 08:39:07 +01:00
78d6f6941c
Merge pull request #61 from PX4/pr-ImprovedAccuracyReporting
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EKF: Improve Position Accuracy Reporting
2016-02-26 22:48:44 +11:00
9192ced7bb
do not reset output attitude state after heading reset to avoid jumps in attitude
2016-02-25 18:20:29 +01:00
cd0cac066a
EKF: Calculate and publish horizontal and vertical position accuracy
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This calculation takes into account the uncertainty of the origin.
Dead reckoning status is also published
2016-02-25 10:38:07 +11:00
380db7ebef
EKF: Reset angle error covariance after yaw and mag field reset
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The yaw angle could have changed by a significant amount making the correlations invalid.
Setting angle variances to zero prevents the initial kick in angles due to 3D fusion starting
2016-02-25 08:16:42 +11:00
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
83945581ed
EKF: Add function to calculate the magnetic declination to use
2016-02-14 22:01:53 +01:00
6140d4b21f
EKF: Add function to reset yaw and magnetic field states
2016-02-14 22:01:53 +01:00
ce0ddc0207
-added comments
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-removed unused print functions
-removed false _imu_time_last variable (correct is _time_last_imu)
2016-02-14 09:49:26 +01:00
9d7340e187
EKF: Fix bugs in position and velocity resets
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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
Beat Küng
Paul Riseborough
Roman Bapst
Roman
CarlOlsson
Paul Riseborough
bugobliterator