├── .gitignore ├── .travis.yml ├── LICENSE.md ├── PX4 Load Estimation.ods ├── README.md ├── TestData ├── LEA.mat ├── NEO.mat ├── SwissLog1.mat ├── TestLog1.mat ├── TestLog2.mat └── TestLog3.mat ├── code ├── .gitignore ├── InputFiles.zip ├── InputFilesPX4.zip ├── InputFilesPX4_bench.zip ├── InputFilesPX4_flow.zip ├── InputFilesPX4_search.zip ├── Makefile ├── OutputFiles.zip ├── ReadMe.txt ├── ValidationOutputData.zip ├── ValidationOutputPlots.zip ├── estimator_21states.cpp ├── estimator_21states.h ├── estimator_22states.cpp ├── estimator_22states.h ├── estimator_utilities.cpp ├── estimator_utilities.h ├── f450_glitch_log.zip ├── main_closed_loop_float.cpp ├── main_closed_loop_test_harness-21state.cpp ├── plot_attitude.py ├── plot_flow.py ├── plot_glitchOffset.py ├── plot_mag.py ├── plot_optflow.py ├── plot_position.py ├── plot_rng.py ├── plot_states.py ├── plot_tas.py ├── plot_velocity.py ├── plot_velpos.py ├── plot_wind.py ├── quad106.zip ├── quad122a.zip ├── quad123.zip ├── quadOptFlowLogData.zip ├── travis_gdbscript └── validate_output.py ├── derivations ├── C_code1.txt ├── C_code2.txt ├── C_code21.txt ├── C_code22.txt ├── C_code23.txt ├── C_code24.txt ├── C_code6.txt ├── C_code9.txt ├── ConvertToC.m ├── ConvertToM.m ├── EulToQuat.m ├── GenerateEquations21states.m ├── GenerateEquations22states.m ├── GenerateEquations23states.m ├── GenerateEquations24states.m ├── GenerateEquations2states.m ├── GenerateEquationsOptCal.m ├── GenerateEquationsOptCal_1state.m ├── GenerateEquationsTerrainEstimator.m ├── M_code1.txt ├── M_code21.txt ├── M_code22.txt ├── M_code23.txt ├── M_code24.txt ├── M_code6.txt ├── M_code9.txt ├── MagCalDerivation.m ├── NormQuat.m ├── OptimiseAlgebra.m ├── Quat2Tbn.m ├── QuatDivide.m ├── QuatMult.m ├── QuatToEul.m ├── RotToQuat.m ├── RotationVectorAttitudeParameterisation │ ├── 9states │ │ ├── AlignHeading.m │ │ ├── FuseMagnetometer.m │ │ ├── FuseVelocity.m │ │ ├── GenerateEquations.m │ │ ├── PlotData.m │ │ ├── PredictCovariance.m │ │ ├── PredictStates.m │ │ ├── RunFilter.m │ │ ├── calcF.m │ │ ├── calcH_MAG.m │ │ ├── calcH_YAW312.c │ │ ├── calcH_YAW312.m │ │ ├── calcH_YAW321.c │ │ ├── calcH_YAW321.m │ │ └── calcQ.m │ ├── 9states_synthetic_data │ │ ├── AlignHeading.m │ │ ├── FuseMagnetometer.m │ │ ├── FuseVelocity.m │ │ ├── GenerateEquations.m │ │ ├── PredictCovariance.m │ │ ├── PredictStates.m │ │ ├── RunFilter.m │ │ ├── calcF.m │ │ ├── calcG.m │ │ ├── calcH_MAG.m │ │ ├── calcH_YAW312.c │ │ ├── calcH_YAW312.m │ │ ├── calcH_YAW321.c │ │ ├── calcH_YAW321.m │ │ └── calcQ.m │ ├── C_code24.txt │ ├── GenerateNavFilterEquations.m │ ├── H_LOSX.c │ ├── H_LOSY.c │ ├── K_LOSX.c │ ├── K_LOSY.c │ ├── M_code24.txt │ ├── SymbolicOutput24.txt │ ├── calcBCN.c │ ├── calcH_YAW312.c │ ├── calcH_YAW321.c │ └── calcMAGD.c ├── SaveScriptCode.m ├── SaveScriptCode2State.m ├── SaveScriptCodeTerrainEstimator.m ├── SymbolicOutput21.txt ├── SymbolicOutput22.txt ├── SymbolicOutput23.txt ├── SymbolicOutput24.txt ├── SymbolicOutput6.txt ├── SymbolicOutput9.txt ├── TerrainEstimators │ ├── C_code3.txt │ ├── GenerateEquationsTerrainEstimator3.m │ ├── M_code3.txt │ ├── SaveScriptCodeTerrainEstimator3.m │ └── SymbolicOutput3.txt ├── calcH_rng.m ├── fix_c_code.m ├── optFlowFusionX.cpp ├── optFlowFusionY.cpp ├── range_beacon.m └── range_beacon_origin.m ├── models ├── NavFilterTestHarness21.mdl ├── NavFilterTestHarness24.mdl ├── calc_truth_deriv.m └── imu_error_modelling.m ├── plots ├── AccelBiasEstimates.jpg ├── AirSpeedInnovations.jpg ├── BodyMagEstimates.jpg ├── EarthMagEstimates.jpg ├── EulerAngleEstimates.jpg ├── GyroBiasEstimates.jpg ├── MagInnovations.jpg ├── PosInnovations.jpg ├── PositionEstimates.jpg ├── VelInnovations.jpg ├── VelocityEstimates.jpg └── WindVelEstimates.jpg └── scripts ├── FindBestDelay.m ├── ImportApmTestHarnessData.m ├── ImportApmTestHarnessFile.m ├── LoadMissionPlannerCopterFlashData.m ├── LoadMissionPlannerFlashData.m ├── LoadMissionPlannerPlaneFlashData.m ├── LoadNavFilterTestData.m ├── LoadNavFilterTestDataStruct.m ├── LoadPX4StackData.m ├── LoadUbuntuFlashData.m ├── PlotApmTestHarnessData.m ├── PlotCcodeOutput.m ├── PlotFlightData.m ├── PlotNavFilterData21.m ├── PlotNavFilterData24.m ├── RunNavFilterExecutable.m ├── RunNavFilterTestHarness21.m ├── RunNavFilterTestHarness24.m └── importfile.m /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/.gitignore -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/.travis.yml -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/LICENSE.md -------------------------------------------------------------------------------- /PX4 Load Estimation.ods: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/PX4 Load Estimation.ods -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/README.md -------------------------------------------------------------------------------- /TestData/LEA.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/LEA.mat -------------------------------------------------------------------------------- /TestData/NEO.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/NEO.mat -------------------------------------------------------------------------------- /TestData/SwissLog1.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/SwissLog1.mat -------------------------------------------------------------------------------- /TestData/TestLog1.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/TestLog1.mat -------------------------------------------------------------------------------- /TestData/TestLog2.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/TestLog2.mat -------------------------------------------------------------------------------- /TestData/TestLog3.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/TestData/TestLog3.mat -------------------------------------------------------------------------------- /code/.gitignore: -------------------------------------------------------------------------------- 1 | *.txt 2 | estimator_closed_loop_test 3 | obj/ -------------------------------------------------------------------------------- /code/InputFiles.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/InputFiles.zip -------------------------------------------------------------------------------- /code/InputFilesPX4.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/InputFilesPX4.zip -------------------------------------------------------------------------------- /code/InputFilesPX4_bench.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/InputFilesPX4_bench.zip -------------------------------------------------------------------------------- /code/InputFilesPX4_flow.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/InputFilesPX4_flow.zip -------------------------------------------------------------------------------- /code/InputFilesPX4_search.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/InputFilesPX4_search.zip -------------------------------------------------------------------------------- /code/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/Makefile -------------------------------------------------------------------------------- /code/OutputFiles.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/OutputFiles.zip -------------------------------------------------------------------------------- /code/ReadMe.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/ReadMe.txt -------------------------------------------------------------------------------- /code/ValidationOutputData.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/ValidationOutputData.zip -------------------------------------------------------------------------------- /code/ValidationOutputPlots.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/ValidationOutputPlots.zip -------------------------------------------------------------------------------- /code/estimator_21states.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_21states.cpp -------------------------------------------------------------------------------- /code/estimator_21states.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_21states.h -------------------------------------------------------------------------------- /code/estimator_22states.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_22states.cpp -------------------------------------------------------------------------------- /code/estimator_22states.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_22states.h -------------------------------------------------------------------------------- /code/estimator_utilities.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_utilities.cpp -------------------------------------------------------------------------------- /code/estimator_utilities.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/estimator_utilities.h -------------------------------------------------------------------------------- /code/f450_glitch_log.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/f450_glitch_log.zip -------------------------------------------------------------------------------- /code/main_closed_loop_float.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/main_closed_loop_float.cpp -------------------------------------------------------------------------------- /code/main_closed_loop_test_harness-21state.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/main_closed_loop_test_harness-21state.cpp -------------------------------------------------------------------------------- /code/plot_attitude.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_attitude.py -------------------------------------------------------------------------------- /code/plot_flow.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_flow.py -------------------------------------------------------------------------------- /code/plot_glitchOffset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_glitchOffset.py -------------------------------------------------------------------------------- /code/plot_mag.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_mag.py -------------------------------------------------------------------------------- /code/plot_optflow.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_optflow.py -------------------------------------------------------------------------------- /code/plot_position.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_position.py -------------------------------------------------------------------------------- /code/plot_rng.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_rng.py -------------------------------------------------------------------------------- /code/plot_states.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_states.py -------------------------------------------------------------------------------- /code/plot_tas.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_tas.py -------------------------------------------------------------------------------- /code/plot_velocity.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_velocity.py -------------------------------------------------------------------------------- /code/plot_velpos.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_velpos.py -------------------------------------------------------------------------------- /code/plot_wind.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/plot_wind.py -------------------------------------------------------------------------------- /code/quad106.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/quad106.zip -------------------------------------------------------------------------------- /code/quad122a.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/quad122a.zip -------------------------------------------------------------------------------- /code/quad123.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/quad123.zip -------------------------------------------------------------------------------- /code/quadOptFlowLogData.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/quadOptFlowLogData.zip -------------------------------------------------------------------------------- /code/travis_gdbscript: -------------------------------------------------------------------------------- 1 | file estimator_closed_loop_test 2 | b main 3 | r 4 | c 5 | bt 6 | quit 7 | -------------------------------------------------------------------------------- /code/validate_output.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/code/validate_output.py -------------------------------------------------------------------------------- /derivations/C_code1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code1.txt -------------------------------------------------------------------------------- /derivations/C_code2.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code2.txt -------------------------------------------------------------------------------- /derivations/C_code21.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code21.txt -------------------------------------------------------------------------------- /derivations/C_code22.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code22.txt -------------------------------------------------------------------------------- /derivations/C_code23.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code23.txt -------------------------------------------------------------------------------- /derivations/C_code24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code24.txt -------------------------------------------------------------------------------- /derivations/C_code6.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code6.txt -------------------------------------------------------------------------------- /derivations/C_code9.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/C_code9.txt -------------------------------------------------------------------------------- /derivations/ConvertToC.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/ConvertToC.m -------------------------------------------------------------------------------- /derivations/ConvertToM.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/ConvertToM.m -------------------------------------------------------------------------------- /derivations/EulToQuat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/EulToQuat.m -------------------------------------------------------------------------------- /derivations/GenerateEquations21states.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquations21states.m -------------------------------------------------------------------------------- /derivations/GenerateEquations22states.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquations22states.m -------------------------------------------------------------------------------- /derivations/GenerateEquations23states.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquations23states.m -------------------------------------------------------------------------------- /derivations/GenerateEquations24states.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquations24states.m -------------------------------------------------------------------------------- /derivations/GenerateEquations2states.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquations2states.m -------------------------------------------------------------------------------- /derivations/GenerateEquationsOptCal.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquationsOptCal.m -------------------------------------------------------------------------------- /derivations/GenerateEquationsOptCal_1state.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquationsOptCal_1state.m -------------------------------------------------------------------------------- /derivations/GenerateEquationsTerrainEstimator.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/GenerateEquationsTerrainEstimator.m -------------------------------------------------------------------------------- /derivations/M_code1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code1.txt -------------------------------------------------------------------------------- /derivations/M_code21.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code21.txt -------------------------------------------------------------------------------- /derivations/M_code22.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code22.txt -------------------------------------------------------------------------------- /derivations/M_code23.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code23.txt -------------------------------------------------------------------------------- /derivations/M_code24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code24.txt -------------------------------------------------------------------------------- /derivations/M_code6.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code6.txt -------------------------------------------------------------------------------- /derivations/M_code9.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/M_code9.txt -------------------------------------------------------------------------------- /derivations/MagCalDerivation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/MagCalDerivation.m -------------------------------------------------------------------------------- /derivations/NormQuat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/NormQuat.m -------------------------------------------------------------------------------- /derivations/OptimiseAlgebra.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/OptimiseAlgebra.m -------------------------------------------------------------------------------- /derivations/Quat2Tbn.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/Quat2Tbn.m -------------------------------------------------------------------------------- /derivations/QuatDivide.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/QuatDivide.m -------------------------------------------------------------------------------- /derivations/QuatMult.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/QuatMult.m -------------------------------------------------------------------------------- /derivations/QuatToEul.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/QuatToEul.m -------------------------------------------------------------------------------- /derivations/RotToQuat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotToQuat.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/AlignHeading.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/AlignHeading.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/FuseMagnetometer.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/FuseMagnetometer.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/FuseVelocity.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/FuseVelocity.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/GenerateEquations.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/GenerateEquations.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/PlotData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/PlotData.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/PredictCovariance.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/PredictCovariance.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/PredictStates.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/PredictStates.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/RunFilter.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/RunFilter.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcF.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcF.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcH_MAG.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcH_MAG.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW312.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW312.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW312.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW312.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW321.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW321.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW321.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcH_YAW321.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states/calcQ.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states/calcQ.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/AlignHeading.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/AlignHeading.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/FuseMagnetometer.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/FuseMagnetometer.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/FuseVelocity.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/FuseVelocity.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/GenerateEquations.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/GenerateEquations.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/PredictCovariance.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/PredictCovariance.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/PredictStates.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/PredictStates.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/RunFilter.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/RunFilter.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcF.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcF.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcG.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcG.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_MAG.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_MAG.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW312.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW312.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW312.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW312.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW321.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW321.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW321.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcH_YAW321.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcQ.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/9states_synthetic_data/calcQ.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/C_code24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/C_code24.txt -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/H_LOSX.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/H_LOSX.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/H_LOSY.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/H_LOSY.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/K_LOSX.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/K_LOSX.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/K_LOSY.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/K_LOSY.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/M_code24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/M_code24.txt -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/SymbolicOutput24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/SymbolicOutput24.txt -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/calcBCN.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/calcBCN.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/calcH_YAW312.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/calcH_YAW312.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/calcH_YAW321.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/calcH_YAW321.c -------------------------------------------------------------------------------- /derivations/RotationVectorAttitudeParameterisation/calcMAGD.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/RotationVectorAttitudeParameterisation/calcMAGD.c -------------------------------------------------------------------------------- /derivations/SaveScriptCode.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SaveScriptCode.m -------------------------------------------------------------------------------- /derivations/SaveScriptCode2State.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SaveScriptCode2State.m -------------------------------------------------------------------------------- /derivations/SaveScriptCodeTerrainEstimator.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SaveScriptCodeTerrainEstimator.m -------------------------------------------------------------------------------- /derivations/SymbolicOutput21.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput21.txt -------------------------------------------------------------------------------- /derivations/SymbolicOutput22.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput22.txt -------------------------------------------------------------------------------- /derivations/SymbolicOutput23.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput23.txt -------------------------------------------------------------------------------- /derivations/SymbolicOutput24.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput24.txt -------------------------------------------------------------------------------- /derivations/SymbolicOutput6.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput6.txt -------------------------------------------------------------------------------- /derivations/SymbolicOutput9.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/SymbolicOutput9.txt -------------------------------------------------------------------------------- /derivations/TerrainEstimators/C_code3.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/TerrainEstimators/C_code3.txt -------------------------------------------------------------------------------- /derivations/TerrainEstimators/GenerateEquationsTerrainEstimator3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/TerrainEstimators/GenerateEquationsTerrainEstimator3.m -------------------------------------------------------------------------------- /derivations/TerrainEstimators/M_code3.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/TerrainEstimators/M_code3.txt -------------------------------------------------------------------------------- /derivations/TerrainEstimators/SaveScriptCodeTerrainEstimator3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/TerrainEstimators/SaveScriptCodeTerrainEstimator3.m -------------------------------------------------------------------------------- /derivations/TerrainEstimators/SymbolicOutput3.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/TerrainEstimators/SymbolicOutput3.txt -------------------------------------------------------------------------------- /derivations/calcH_rng.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/calcH_rng.m -------------------------------------------------------------------------------- /derivations/fix_c_code.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/fix_c_code.m -------------------------------------------------------------------------------- /derivations/optFlowFusionX.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/optFlowFusionX.cpp -------------------------------------------------------------------------------- /derivations/optFlowFusionY.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/optFlowFusionY.cpp -------------------------------------------------------------------------------- /derivations/range_beacon.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/range_beacon.m -------------------------------------------------------------------------------- /derivations/range_beacon_origin.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/derivations/range_beacon_origin.m -------------------------------------------------------------------------------- /models/NavFilterTestHarness21.mdl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/models/NavFilterTestHarness21.mdl -------------------------------------------------------------------------------- /models/NavFilterTestHarness24.mdl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/models/NavFilterTestHarness24.mdl -------------------------------------------------------------------------------- /models/calc_truth_deriv.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/models/calc_truth_deriv.m -------------------------------------------------------------------------------- /models/imu_error_modelling.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/models/imu_error_modelling.m -------------------------------------------------------------------------------- /plots/AccelBiasEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/AccelBiasEstimates.jpg -------------------------------------------------------------------------------- /plots/AirSpeedInnovations.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/AirSpeedInnovations.jpg -------------------------------------------------------------------------------- /plots/BodyMagEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/BodyMagEstimates.jpg -------------------------------------------------------------------------------- /plots/EarthMagEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/EarthMagEstimates.jpg -------------------------------------------------------------------------------- /plots/EulerAngleEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/EulerAngleEstimates.jpg -------------------------------------------------------------------------------- /plots/GyroBiasEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/GyroBiasEstimates.jpg -------------------------------------------------------------------------------- /plots/MagInnovations.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/MagInnovations.jpg -------------------------------------------------------------------------------- /plots/PosInnovations.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/PosInnovations.jpg -------------------------------------------------------------------------------- /plots/PositionEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/PositionEstimates.jpg -------------------------------------------------------------------------------- /plots/VelInnovations.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/VelInnovations.jpg -------------------------------------------------------------------------------- /plots/VelocityEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/VelocityEstimates.jpg -------------------------------------------------------------------------------- /plots/WindVelEstimates.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/plots/WindVelEstimates.jpg -------------------------------------------------------------------------------- /scripts/FindBestDelay.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/FindBestDelay.m -------------------------------------------------------------------------------- /scripts/ImportApmTestHarnessData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/ImportApmTestHarnessData.m -------------------------------------------------------------------------------- /scripts/ImportApmTestHarnessFile.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/ImportApmTestHarnessFile.m -------------------------------------------------------------------------------- /scripts/LoadMissionPlannerCopterFlashData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadMissionPlannerCopterFlashData.m -------------------------------------------------------------------------------- /scripts/LoadMissionPlannerFlashData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadMissionPlannerFlashData.m -------------------------------------------------------------------------------- /scripts/LoadMissionPlannerPlaneFlashData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadMissionPlannerPlaneFlashData.m -------------------------------------------------------------------------------- /scripts/LoadNavFilterTestData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadNavFilterTestData.m -------------------------------------------------------------------------------- /scripts/LoadNavFilterTestDataStruct.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadNavFilterTestDataStruct.m -------------------------------------------------------------------------------- /scripts/LoadPX4StackData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadPX4StackData.m -------------------------------------------------------------------------------- /scripts/LoadUbuntuFlashData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/LoadUbuntuFlashData.m -------------------------------------------------------------------------------- /scripts/PlotApmTestHarnessData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/PlotApmTestHarnessData.m -------------------------------------------------------------------------------- /scripts/PlotCcodeOutput.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/PlotCcodeOutput.m -------------------------------------------------------------------------------- /scripts/PlotFlightData.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/PlotFlightData.m -------------------------------------------------------------------------------- /scripts/PlotNavFilterData21.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/PlotNavFilterData21.m -------------------------------------------------------------------------------- /scripts/PlotNavFilterData24.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/PlotNavFilterData24.m -------------------------------------------------------------------------------- /scripts/RunNavFilterExecutable.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/RunNavFilterExecutable.m -------------------------------------------------------------------------------- /scripts/RunNavFilterTestHarness21.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/RunNavFilterTestHarness21.m -------------------------------------------------------------------------------- /scripts/RunNavFilterTestHarness24.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/RunNavFilterTestHarness24.m -------------------------------------------------------------------------------- /scripts/importfile.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/priseborough/InertialNav/HEAD/scripts/importfile.m --------------------------------------------------------------------------------