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Ekf Rebase for CI/CD Testing #11

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Ekf Rebase for CI/CD Testing #11

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Took PR #10 and rebased to main to have access to CI/CD

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Subedi Suman and others added 30 commits September 5, 2022 11:03
@xxEoD2242
typedef EkfStates and EKfCovariance from Eigen lib
a703505
@xxEoD2242
implement is_new flag for sensor models
d1cc39e
@xxEoD2242
add creation of ekf unique pointer and passing a pointer into firmwar…
9d438c9 
…e in SimpleFlightApi, board gets vehicle_params_
@xxEoD2242
add ekf in Firmware constructor and call of ekf update
81d3233
@xxEoD2242
implement interface to access sensor data from const board_, sensor m…
73ae4b2 
…odels come from const vehicle_params_
@xxEoD2242
create four ekf hpp files and implement basic interfaces and function…
a773b2f 
… calls
@xxEoD2242
fix ekf declaration
8f12903
@xxEoD2242
fix board_ methods' polymorphism
b87824e
@xxEoD2242
update gitignore to ignore log.txt
e54bfed
@xxEoD2242
add parser and can run simpleflighttest
9e8c4e3
@xxEoD2242
add quick and dirty commlink log of vehicle altitude series in Firmware
deae41b
@xxEoD2242
update SimpleFlightTest.hpp
6b6f777
@xxEoD2242
bug fix, memory leak due to wrong declaration of message
a8cd536
@xxEoD2242
Sync environment with kinematics in physics engine ! only for standal…
126f757 
…one AirSim usage!
@xxEoD2242
fix array out of bound in board
84839c6
@xxEoD2242
change takeoff altituide for simple_flight
c7bcae1
@xxEoD2242
transfer commlink log from Firmware to OffboardApi
ec2d6e5
@xxEoD2242
make changes to ekf skeleton, log, and test: compiles and updates ekf…
668999b 
… functions correctly
@xxEoD2242
add ekf_ object as member of state_estimator_
c6fb0ad
@xxEoD2242
change logging in OffBoardApi and log ekf position there
c119bc1
@xxEoD2242
transport member object and get/setters from Base to IEkf
5a2ce6f
@xxEoD2242
implement evaluateStateDot function in ekf
689f768
@xxEoD2242
implement statePropagation and initialization, remove logging in ekf
9a1f1a1
@xxEoD2242
running change in SimpleFlighttest.hpp, can run and log statePropagat…
bd9d682 
…ion in ekf
@xxEoD2242
change and append Eigen matrix definitions
9f65c11
@xxEoD2242
change log in OffBoardApi.hpp
64538e8
@xxEoD2242
add ekf position interface in flight estimator
11e8e47
@xxEoD2242
add bash and python scripts to cleanup and plot log
40c4569
@xxEoD2242
implement covariance propagration in EKF
4248aa0
@xxEoD2242
add geodetic2Ned interface for AirSim in GeodeticConverter
7792339
Subedi Suman and others added 24 commits September 5, 2022 11:10
@xxEoD2242
running change in simpleflighttest
5e70ccd
@xxEoD2242
fix ekf settings not recognized by non-default vehicle
bdbda0c
@xxEoD2242
change ekf initial states setting to ekf initial state error
9a1a14d
@xxEoD2242
change sensor bias model to negative
9df88b1
@xxEoD2242
add turn on bias in imu from setting
e3b6260
@xxEoD2242
reset kinematics and environment before api in simpleflighttest
b50cdf8
@xxEoD2242
correct unit of gyro bias in ekf and imu model
c52c90e
@xxEoD2242
add quaternion normalization and lambda term in prediction step
fff509c
@xxEoD2242
delete codes not needed
ea8535c
@xxEoD2242
cleanup more ekf code
314db45
@xxEoD2242
add euler angle covariance computation and getter
69d2f0a
@xxEoD2242
cleanup ekf
b43a4a9
@xxEoD2242
clang formating
3a836d7
@xxEoD2242
fix double float conversion warning in sensors
23899b7
@xxEoD2242
clang formating
4f3b064
@xxEoD2242
fix further double to float warnings
7ef80b1
@xxEoD2242
fix further double to float warnings
6a471db
@xxEoD2242
fix further double to float warning
659889e
@xxEoD2242
clean airsimunittest
88f4dfb
@xxEoD2242
remove jacobian test
6c7d3f4
@xxEoD2242
add ekf data as line in RecordFileLine
5226dae
@subedisuman @xxEoD2242
add vehicleresetapi
c47de49
@subedisuman @xxEoD2242
add python client scripts to run and plot ekf
2cacb12
@subedisuman @xxEoD2242
fix the plot.py doc string
71c9bf0
@xxEoD2242 xxEoD2242 mentioned this pull request Sep 5, 2022
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2 participants
@xxEoD2242 @subedisuman