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Mirror PR #4688 from AirSim #10

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wants to merge 95 commits into from
Closed

Mirror PR #4688 from AirSim #10

wants to merge 95 commits into from

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xxEoD2242
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Mirrors #4688 PR from AirSim

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Subedi Suman and others added 30 commits November 7, 2021 11:06
typedef EkfStates and EKfCovariance from Eigen lib
3062a73
implement is_new flag for sensor models
fece608
add creation of ekf unique pointer and passing a pointer into firmwar…
cfc8a40 
…e in SimpleFlightApi, board gets vehicle_params_
add ekf in Firmware constructor and call of ekf update
afba251
implement interface to access sensor data from const board_, sensor m…
43a5526 
…odels come from const vehicle_params_
create four ekf hpp files and implement basic interfaces and function…
077352a 
… calls
add parser and can run simpleflighttest
083161d
add quick and dirty commlink log of vehicle altitude series in Firmware
fd5d4c3
update SimpleFlightTest.hpp
fda8c9d
fix ekf declaration
fda7312
fix board_ methods' polymorphism
0a64ec7
update gitignore to ignore log.txt
b42e475
bug fix, memory leak due to wrong declaration of message
8b098bd
merge airlibtest into ekf
00c2754
Sync environment with kinematics in physics engine ! only for standal…
ee84841 
…one AirSim usage!
fix array out of bound in board
dec9f8b
change takeoff altituide for simple_flight
43c6945
transfer commlink log from Firmware to OffboardApi
0da5d3d
make changes to ekf skeleton, log, and test: compiles and updates ekf…
1b304cd 
… functions correctly
@subedisuman
Merge branch 'microsoft:master' into ekf
54ae025
add ekf_ object as member of state_estimator_
610de43
change logging in OffBoardApi and log ekf position there
dc097ca
transport member object and get/setters from Base to IEkf
9d2fdd0
implement evaluateStateDot function in ekf
68afd59
implement statePropagation and initialization, remove logging in ekf
62a25d7
running change in SimpleFlighttest.hpp, can run and log statePropagat…
80093b8 
…ion in ekf
change and append Eigen matrix definitions
1f2f45e
change log in OffBoardApi.hpp
e547bda
add ekf position interface in flight estimator
2af2270
add bash and python scripts to cleanup and plot log
9af2f54
Subedi Suman and others added 27 commits February 18, 2022 08:21
change ekf initial states setting to ekf initial state error
9c60cce
change sensor bias model to negative
b9ba06a
add turn on bias in imu from setting
39fbca7
reset kinematics and environment before api in simpleflighttest
60f563a
correct unit of gyro bias in ekf and imu model
1410c7e
add quaternion normalization and lambda term in prediction step
78ac307
delete codes not needed
2c95d02
cleanup more ekf code
f3633e7
add euler angle covariance computation and getter
b19f8d1
Merge branch 'master' of https://github.com/Microsoft/AirSim into ekf…
01f3c89 
…test
cleanup ekf
3b64859
merge origin/ekftest into ekf
69a5d24
clang formating
5a3b26d
fix double float conversion warning in sensors
aba2f16
merge origin/ekftest into ekf
b58a4ec
clang formating
8d47e35
fix further double to float warnings
84fc11b
fix further double to float warnings
a861f6a
fix further double to float warning
dc008fe
clean airsimunittest
5654d19
clean airsimunittest
1ef34be
fix further warning fixes
15c64bf
remove jacobian test
0a8ddc7
add ekf data as line in RecordFileLine
19a541c
@subedisuman
add vehicleresetapi
a5e0e79
@subedisuman
add python client scripts to run and plot ekf
2a27eb3
@subedisuman
fix the plot.py doc string
5b82314
@xxEoD2242 xxEoD2242 mentioned this pull request Sep 5, 2022
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Closing to reference #11

@xxEoD2242 xxEoD2242 closed this Sep 5, 2022
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2 participants
@xxEoD2242 @subedisuman