New Feature: Extended Kalman Filter State Estimator for SimpleFlight#4688

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subedisuman wants to merge 95 commits intomicrosoft:mainfrom subedisuman:ekf

Commits on Nov 7, 2021

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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Commits on Nov 8, 2021

add parser and can run simpleflighttest

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Commits on Nov 10, 2021

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

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update SimpleFlightTest.hpp

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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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bug fix, memory leak due to wrong declaration of message

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merge airlibtest into ekf

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Commits on Nov 12, 2021

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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Commits on Nov 15, 2021

Merge branch 'microsoft:master' into ekf
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Commits on Nov 16, 2021

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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Commits on Nov 19, 2021

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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Commits on Dec 1, 2021

Merge pull request #1 from rajat2004/use-geodetic-converter
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Commits on Dec 25, 2021

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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Commits on Jan 12, 2022

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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Commits on Jan 17, 2022

fix euler angle covariance
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Commits on Jan 19, 2022

refactor ekf params
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Merge branch 'master' of https://github.com/Microsoft/AirSim into ekf
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cleanup
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cleanup
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Commits on Jan 26, 2022

fix a typo in ekfparams
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Commits on Feb 14, 2022

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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Commits on Feb 15, 2022

add runtime selection if ekf estimates are used via state estimator
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Commits on Feb 16, 2022

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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Commits on Feb 17, 2022

fix ekf settings not recognized by non-default vehicle
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Commits on Feb 18, 2022

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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Commits on Mar 23, 2022

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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Merge branch 'master' of https://github.com/Microsoft/AirSim into ekftest
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cleanup ekf
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merge origin/ekftest into ekf
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clang formating
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fix double float conversion warning in sensors
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merge origin/ekftest into ekf
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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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clean airsimunittest
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fix further warning fixes
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remove jacobian test
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Commits on Mar 25, 2022

add ekf data as line in RecordFileLine
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Commits on Apr 4, 2022

add vehicleresetapi
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Commits on Apr 19, 2022