Ekf Rebase for CI/CD Testing#11

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xxEoD2242 wants to merge 90 commits intomainfrom

Commits on Sep 5, 2022

typedef EkfStates and EKfCovariance from Eigen lib

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implement is_new flag for sensor models

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

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add ekf in Firmware constructor and call of ekf update

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

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

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fix ekf declaration

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fix board_ methods' polymorphism

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update gitignore to ignore log.txt

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add parser and can run simpleflighttest

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

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update SimpleFlightTest.hpp

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bug fix, memory leak due to wrong declaration of message

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

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fix array out of bound in board

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change takeoff altituide for simple_flight

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transfer commlink log from Firmware to OffboardApi

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

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add ekf_ object as member of state_estimator_

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change logging in OffBoardApi and log ekf position there

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transport member object and get/setters from Base to IEkf

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implement evaluateStateDot function in ekf

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implement statePropagation and initialization, remove logging in ekf

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

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change and append Eigen matrix definitions

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change log in OffBoardApi.hpp

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add ekf position interface in flight estimator

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add bash and python scripts to cleanup and plot log

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implement covariance propagration in EKF

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add geodetic2Ned interface for AirSim in GeodeticConverter

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add further matrix definitions in VectorMath

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add white noise model in gps sensor model

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change initialization order of ekf in Firmware

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add setting of ground truth in ekf

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

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add further ekf results data logging in OffboardApi

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add struct defintions for ekf

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

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bulk changes in ekf: implement measurement updates and filter intialization

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add running changes in peripheral scripts

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add toggle for usage of true and estimated states

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add EKF settings in AirSim settings

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add further matrix definitions

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reset takeoff altitide to original value

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add simple_flight matrix definitions for EKF

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

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running changes in other supplementary files

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cosmetic cheanups

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fixes

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fix euler angle covariance

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refactor ekf params

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cleanup

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fix a typo in ekfparams

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update gitignore

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remove pure velocity zero condition before multirotor takeoff

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running changes in peripherals for ekf

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add runtime selection if ekf estimates are used via state estimator

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

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add settings params for gps noise

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fix baro altitude in ekf, introduce bool for sensor fusion

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fix virtual destructures warning

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running change in simpleflighttest

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fix ekf settings not recognized by non-default vehicle

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change ekf initial states setting to ekf initial state error

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change sensor bias model to negative

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add turn on bias in imu from setting

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reset kinematics and environment before api in simpleflighttest

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correct unit of gyro bias in ekf and imu model

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add quaternion normalization and lambda term in prediction step

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delete codes not needed

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cleanup more ekf code

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add euler angle covariance computation and getter

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cleanup ekf

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clang formating

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fix double float conversion warning in sensors

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clang formating

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fix further double to float warnings

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fix further double to float warnings

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fix further double to float warning

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clean airsimunittest

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remove jacobian test

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add ekf data as line in RecordFileLine

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add vehicleresetapi

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add python client scripts to run and plot ekf

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fix the plot.py doc string

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Fix error with camera defaults during rebase
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Fix clang formatting for EKF structs
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Fix issues with namespaces changing in the updated process
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Fix odd compiler option breaking clang formatting
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Commits on Oct 27, 2022

Update EKF rebase
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