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EKF: Add Emergency yaw recovery using EKF-GSF estimator #764

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EKF: Add Emergency yaw recovery using EKF-GSF estimator #764

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c46d9df
EKF: Use common rate vector calculation for offset corrections
priseborough Feb 28, 2020
96f8f04
EKF: Remove duplicate matrix entry calculations
priseborough Feb 28, 2020
57d3b4d
EKF: Create a EKF-GSF yaw estimator class
priseborough Feb 28, 2020
f7a95c6
EKF: add emergency yaw reset functionality
priseborough Feb 28, 2020
9300530
EKF: remove un-used function
priseborough Feb 28, 2020
43243e6
EKF: Ensure required constants are defined for all builds
priseborough Feb 28, 2020
00a2799
EKF: Fix CI build error
priseborough Feb 28, 2020
7a5397a
Revert "EKF: remove un-used function"
priseborough Feb 28, 2020
a643fb9
EKF: Replace in-lined Tait-Bryan 312 conversions with function call
priseborough Feb 28, 2020
d9ec50d
EKF: Remove unnecessary update of external vision rotation matrix
priseborough Feb 28, 2020
7af6777
EKF: Use const
priseborough Mar 1, 2020
289ab8a
EKF: use const
priseborough Mar 1, 2020
93c026d
EKF: don't use class variable as a temporary variable
priseborough Mar 1, 2020
577f8a1
EKF: update comments
priseborough Mar 1, 2020
e1613c1
EKF: Improve efficiency of yaw reset
priseborough Mar 1, 2020
dfa89a0
EKF: use const
priseborough Mar 1, 2020
0e6b969
EKF: remove un-used struct element
priseborough Mar 1, 2020
34e88e3
EKF: more descriptive function name
priseborough Mar 1, 2020
20873f1
EKF: use existing matrix row operator
priseborough Mar 1, 2020
5b26816
EKF: remove unnecessary rotation matrix update
priseborough Mar 1, 2020
98db495
EKF: Use square matrix type
priseborough Mar 2, 2020
2ba9ab7
EKF: Improve protection for bad innovation covariance
priseborough Mar 2, 2020
b87b0ab
EKF: Use matrix library operations
priseborough Mar 2, 2020
02f48a6
EKF: Replace memcpy with better alternative
priseborough Mar 2, 2020
1e52228
EKF: Split EKF-GSF yaw reset function
priseborough Mar 2, 2020
c8e73d3
EKF: Use common function for quaternion state and covariance yaw reset
priseborough Mar 2, 2020
e1892f9
EKF: Replace inlined matrix operation
priseborough Mar 3, 2020
29916fa
EKF: Use const
priseborough Mar 3, 2020
d130250
EKF: Change accessor function name
priseborough Mar 3, 2020
8a62448
EKF: Use const
priseborough Mar 3, 2020
6488ce0
EKF: Don't create unnecessary duplicate variable locations
priseborough Mar 3, 2020
bf3f91e
EKF: Remove duplicate covariance innovation inverse
priseborough Mar 3, 2020
3aa1433
EKF: Don't create unnecessary duplicate variable locations
priseborough Mar 3, 2020
8d35ab6
EKF: Rely on geo library to provide gravity
priseborough Mar 3, 2020
a2afbee
EKF: Improve protection from bad updates
priseborough Mar 3, 2020
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19 changes: 15 additions & 4 deletions EKF/EKFGSF_yaw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,21 @@ using matrix::wrap_pi;

#define N_MODELS_EKFGSF 5

#define M_PI_F 3.14159265f
#define M_PI_2_F 1.57079632f
#define M_TWOPI_F 6.28318531f
#define M_TWOPI_INV 0.159154943f
#ifndef M_PI_F
#define M_PI_F 3.14159265f
#endif

#ifndef M_PI_2_F
#define M_PI_2_F 1.57079632f
#endif

#ifndef M_TWOPI_INV
#define M_TWOPI_INV 0.159154943f
#endif

#ifndef CONSTANTS_ONE_G
#define CONSTANTS_ONE_G 9.80665f
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#endif

class EKFGSF_yaw
{
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