- Added Eigen

- Added covariance condition number
- minor other changes

Author: fibr

config/QuadEstimatorEKF.txt

@@ -3,11 +3,13 @@ InitState = 0, 0, -1, 0, 0, 0, 0
 InitStdDevs = .1, .1, .3, .1, .1, .3, .05
 
 # Process noise model
-QPosXYStd = .003
-QPosZStd = .003
-QVelXYStd = .001
-QVelZStd = .003
-QYawStd = .001
+# note that the process covariance matrix is diag(pow(QStd,2))*dtIMU
+
+QPosXYStd = .05
+QPosZStd = .05
+QVelXYStd = .05
+QVelZStd = .1
+QYawStd = .1
 
 # GPS measurement std deviations
 GPSPosXYStd = 1

config/SimulatedSensors.txt

@@ -7,6 +7,7 @@ dt = .002
 
 [SimBaro]
 Std = .1
+#dt = .01
 dt = .01
 
 [SimMag]
@@ -15,6 +16,6 @@ dt = .01
 
 [SimGPS]
 PosStd = 1, 1, 3
-PosRandomWalkStd = .1, .1, .1
+#PosRandomWalkStd = .1, .1, .1
 VelStd = .1, .1, .3
 dt = .1

config/traj/Square.txt

@@ -1,22 +1,22 @@
 # time,	x,	y,	z,	vx,	vy,	vz,	yaw
-1.0,	0, 	0, 	-1, 	0, 	0, 	0,	0
-2.0,	3, 	0, 	-1, 	0, 	0, 	0,	0
+5.0,	0, 	0, 	-1, 	0, 	0, 	0,	0
+6.0,	3, 	0, 	-1, 	0, 	0, 	0,	0
 
-3.0, 	3, 	0, 	-1, 	0, 	0, 	0,	1.57
-4.0, 	3, 	3, 	-1, 	0, 	0, 	0,	1.57
-5.0, 	3, 	3, 	-1, 	0, 	0, 	0,	3.14
-6.0, 	-3,	3, 	-1, 	0, 	0, 	0,	3.14
-7.0, 	-3,	3, 	-1, 	0, 	0, 	0,	-1.57
-8.0, 	-3,	-3,	-1, 	0, 	0, 	0,	-1.57
-9.0, 	-3,	-3,	-1, 	0, 	0, 	0,	0
-10.0, 	3,	-3,	-1, 	0, 	0, 	0,	0
-11.0, 	3,	-3,	-1, 	0, 	0, 	0,	1.57
+7.0, 	3, 	0, 	-1, 	0, 	0, 	0,	1.57
+8.0, 	3, 	3, 	-1, 	0, 	0, 	0,	1.57
+9.0, 	3, 	3, 	-1, 	0, 	0, 	0,	3.14
+10.0, 	-3,	3, 	-1, 	0, 	0, 	0,	3.14
+11.0, 	-3,	3, 	-1, 	0, 	0, 	0,	-1.57
+12.0, 	-3,	-3,	-1, 	0, 	0, 	0,	-1.57
+13.0, 	-3,	-3,	-1, 	0, 	0, 	0,	0
+14.0, 	3,	-3,	-1, 	0, 	0, 	0,	0
+15.0, 	3,	-3,	-1, 	0, 	0, 	0,	1.57
 
-12.0, 	3, 	3, 	-1, 	0, 	0, 	0,	1.57
-13.0, 	3, 	3, 	-1, 	0, 	0, 	0,	3.14
-14.0, 	-3,	3, 	-1, 	0, 	0, 	0,	3.14
-15.0, 	-3,	3, 	-1, 	0, 	0, 	0,	-1.57
-16.0, 	-3,	-3,	-1, 	0, 	0, 	0,	-1.57
-17.0, 	-3,	-3,	-1, 	0, 	0, 	0,	0
-18.0, 	3,	-3,	-1, 	0, 	0, 	0,	0
-19.0, 	3,	-3,	-1, 	0, 	0, 	0,	1.57
+16.0, 	3, 	3, 	-1, 	0, 	0, 	0,	1.57
+17.0, 	3, 	3, 	-1, 	0, 	0, 	0,	3.14
+18.0, 	-3,	3, 	-1, 	0, 	0, 	0,	3.14
+19.0, 	-3,	3, 	-1, 	0, 	0, 	0,	-1.57
+20.0, 	-3,	-3,	-1, 	0, 	0, 	0,	-1.57
+21.0, 	-3,	-3,	-1, 	0, 	0, 	0,	0
+22.0, 	3,	-3,	-1, 	0, 	0, 	0,	0
+23.0, 	3,	-3,	-1, 	0, 	0, 	0,	1.57

lib/Eigen/.hg_archival.txt

@@ -0,0 +1,4 @@
+repo: 8a21fd850624c931e448cbcfb38168cb2717c790
+node: 5a0156e40feb7c4136680b493c6e433d91a6f355
+branch: 3.3
+tag: 3.3.4

lib/Eigen/CMakeLists.txt

@@ -0,0 +1,19 @@
+include(RegexUtils)
+test_escape_string_as_regex()
+
+file(GLOB Eigen_directory_files "*")
+
+escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+
+foreach(f ${Eigen_directory_files})
+  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
+    list(APPEND Eigen_directory_files_to_install ${f})
+  endif()
+endforeach(f ${Eigen_directory_files})
+
+install(FILES
+  ${Eigen_directory_files_to_install}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
+  )
+
+install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")