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Ekf Rebase for CI/CD Testing#11

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xxEoD2242 wants to merge 90 commits intomainCodexLabsLLC/Colosseum:mainfrom ekf_rebaseCodexLabsLLC/Colosseum:ekf_rebaseCopy head branch name to clipboard

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Commits

Commits on Sep 5, 2022

• typedef EkfStates and EKfCovariance from Eigen lib

  

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  a703505

• implement is_new flag for sensor models

  

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  d1cc39e

• add creation of ekf unique pointer and passing a pointer into firmware in SimpleFlightApi, board gets vehicle_params_

  

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  9d438c9

• add ekf in Firmware constructor and call of ekf update

  

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  81d3233

• implement interface to access sensor data from const board_, sensor models come from const vehicle_params_

  

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  73ae4b2

• create four ekf hpp files and implement basic interfaces and function calls

  

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  a773b2f

• fix ekf declaration

  

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  8f12903

• fix board_ methods' polymorphism

  

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  b87824e

• update gitignore to ignore log.txt

  

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  e54bfed

• add parser and can run simpleflighttest

  

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  9e8c4e3

• add quick and dirty commlink log of vehicle altitude series in Firmware

  

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  deae41b

• update SimpleFlightTest.hpp

  

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  6b6f777

• bug fix, memory leak due to wrong declaration of message

  

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  a8cd536

• Sync environment with kinematics in physics engine ! only for standalone AirSim usage!

  

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  126f757

• fix array out of bound in board

  

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  84839c6

• change takeoff altituide for simple_flight

  

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  c7bcae1

• transfer commlink log from Firmware to OffboardApi

  

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  ec2d6e5

• make changes to ekf skeleton, log, and test: compiles and updates ekf functions correctly

  

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  668999b

• add ekf_ object as member of state_estimator_

  

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  c6fb0ad

• change logging in OffBoardApi and log ekf position there

  

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  c119bc1

• transport member object and get/setters from Base to IEkf

  

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  5a2ce6f

• implement evaluateStateDot function in ekf

  

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  689f768

• implement statePropagation and initialization, remove logging in ekf

  

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  9a1f1a1

• running change in SimpleFlighttest.hpp, can run and log statePropagation in ekf

  

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  bd9d682

• change and append Eigen matrix definitions

  

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  9f65c11

• change log in OffBoardApi.hpp

  

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  64538e8

• add ekf position interface in flight estimator

  

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  11e8e47

• add bash and python scripts to cleanup and plot log

  

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  40c4569

• implement covariance propagration in EKF

  

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  4248aa0

• add geodetic2Ned interface for AirSim in GeodeticConverter

  

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  7792339

• add further matrix definitions in VectorMath

  

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  89b7f77

• add white noise model in gps sensor model

  

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  abea9fa

• change initialization order of ekf in Firmware

  

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  d2ec780

• add setting of ground truth in ekf

  

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  1b6f4b5

• add further interfaces in flight estimator to log and use ekf results

  

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  abb6762

• add further ekf results data logging in OffboardApi

  

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  bfd532a

• add struct defintions for ekf

  

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  7e26886

• bulk changes in ekf model: implement measurement models and refactor prediction models

  

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  6e04cd3

• bulk changes in ekf: implement measurement updates and filter intialization

  

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  8d13284

• add running changes in peripheral scripts

  

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  541b14d

• add toggle for usage of true and estimated states

  

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  fddfbd6

• add EKF settings in AirSim settings

  

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  c9c43c1

• add further matrix definitions

  

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  d651f07

• reset takeoff altitide to original value

  

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  d60f3f4

• add simple_flight matrix definitions for EKF

  

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  be4c7d7

• block changes in AirSim EKF, ekf settings, cleanups...

  

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  9f2d652

• running changes in other supplementary files

  

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  1353ccd

• cosmetic cheanups

  

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  f3a89ed

• fixes

  

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  d84ffbe

• fix euler angle covariance

  

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  3dd0a89

• refactor ekf params

  

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  86771fd

• cleanup

  

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  6540f8b

• fix a typo in ekfparams

  

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  fda483b

• update gitignore

  

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  a4e1e94

• remove pure velocity zero condition before multirotor takeoff

  

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  2ffb688

• running changes in peripherals for ekf

  

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  27be53c

• add runtime selection if ekf estimates are used via state estimator

  

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  50f62ea

• cleanup simple_flight state estimator (cov -> var), implement public bool to check if eekf is enabled

  

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  c4a5863

• add settings params for gps noise

  

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  e074fa1

• fix baro altitude in ekf, introduce bool for sensor fusion

  

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  fabd7b5

• fix virtual destructures warning

  

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  e19a517

• running change in simpleflighttest

  

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  5e70ccd

• fix ekf settings not recognized by non-default vehicle

  

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  bdbda0c

• change ekf initial states setting to ekf initial state error

  

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  9a1a14d

• change sensor bias model to negative

  

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  9df88b1

• add turn on bias in imu from setting

  

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  e3b6260

• reset kinematics and environment before api in simpleflighttest

  

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  b50cdf8

• correct unit of gyro bias in ekf and imu model

  

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  c52c90e

• add quaternion normalization and lambda term in prediction step

  

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  fff509c

• delete codes not needed

  

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  ea8535c

• cleanup more ekf code

  

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  314db45

• add euler angle covariance computation and getter

  

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  69d2f0a

• cleanup ekf

  

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  b43a4a9

• clang formating

  

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  3a836d7

• fix double float conversion warning in sensors

  

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  23899b7

• clang formating

  

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  4f3b064

• fix further double to float warnings

  

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  7ef80b1

• fix further double to float warnings

  

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  6a471db

• fix further double to float warning

  

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  659889e

• clean airsimunittest

  

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  88f4dfb

• remove jacobian test

  

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  6c7d3f4

• add ekf data as line in RecordFileLine

  

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  5226dae

• add vehicleresetapi

  

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  c47de49

• add python client scripts to run and plot ekf

  

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  2cacb12

• fix the plot.py doc string

  

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  71c9bf0

• Fix error with camera defaults during rebase

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  2d33f01

• Fix clang formatting for EKF structs

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  0065d0b

• Fix issues with namespaces changing in the updated process

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  43914f3

• Fix odd compiler option breaking clang formatting

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  a5c12cd

Commits on Oct 27, 2022

• Update EKF rebase

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  cfdd6c7