Skip to content

Commit

Permalink
ECL: update to include latest bugfixes
Browse files Browse the repository at this point in the history 
- fix yaw spin on ground after large mag field change
- change covariance prediction for better stability
- fix yaw alignment in air for mag-less mode
- improve tilt alignment for non-static applications
- add momentum drag model
  • Loading branch information
@bresch @dagar
bresch authored and dagar committed Aug 1, 2021
1 parent a299a3b commit a8572f0
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion src/lib/ecl
Submodule ecl updated 33 files
+2 −2 .github/workflows/build_tests.yml
+1 −1 .github/workflows/firmware_build_test.yml
+1 −1 .github/workflows/format_checks.yml
+1 −1 .github/workflows/functional_change_indicator.yml
+2 −2 .github/workflows/unit_tests.yml
+1 −1 .github/workflows/update_change_indicator.yml
+4 −2 EKF/common.h
+302 −254 EKF/covariance.cpp
+72 −15 EKF/drag_fusion.cpp
+6 −4 EKF/ekf.h
+27 −9 EKF/ekf_helper.cpp
+8 −3 EKF/estimator_interface.cpp
+18 −18 EKF/mag_control.cpp
+12 −0 EKF/mag_fusion.cpp
+262 −167 EKF/python/ekf_derivation/generated/3Dmag_generated.cpp
+262 −172 EKF/python/ekf_derivation/generated/3Dmag_generated_alt.cpp
+24 −18 EKF/python/ekf_derivation/generated/3Dmag_innov_var_generated.cpp
+125 −112 EKF/python/ekf_derivation/generated/acc_bf_generated.cpp
+150 −130 EKF/python/ekf_derivation/generated/acc_bf_generated_alt.cpp
+88 −85 EKF/python/ekf_derivation/generated/beta_generated.cpp
+289 −253 EKF/python/ekf_derivation/generated/covariance_generated.cpp
+175 −164 EKF/python/ekf_derivation/generated/flow_generated.cpp
+173 −158 EKF/python/ekf_derivation/generated/flow_generated_alt.cpp
+55 −61 EKF/python/ekf_derivation/generated/gps_yaw_generated.cpp
+179 −168 EKF/python/ekf_derivation/generated/vel_bf_generated.cpp
+174 −170 EKF/python/ekf_derivation/generated/vel_bf_generated_alt.cpp
+36 −40 EKF/python/ekf_derivation/generated/yaw_generated.cpp
+17 −6 EKF/python/ekf_derivation/main.py
+388 −388 test/change_indication/ekf_gsf_reset.csv
+348 −348 test/change_indication/iris_gps.csv
+41 −0 test/test_EKF_externalVision.cpp
+53 −1 test/test_EKF_initialization.cpp
+0 −1 test/test_EKF_withReplayData.cpp

0 comments on commit a8572f0

Please sign in to comment.