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Added support for resetting wind states to external observation (#23277)

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* added support for resetting wind states to external observation

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* moved wind related functions into separate file

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* correctly compute variances

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* ekf2: implement wind reset

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* only reset wind on ground

* still use wind reset using airspeed when it wasn't initialized

* exclude func for rover, change reset interface

* handle wind reset in drag-fusion

* replace state reset with variance reset in sideslip/drag fusion

* remove resetWind function

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
This commit is contained in:
Roman Bapst
2024-07-19 14:33:08 +02:00
committed by GitHub
co-authored by Marco Hauswirth
parent ca9948a84d
commit 1b9f1b78e5
14 changed files with 231 additions and 59 deletions
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msg/VehicleCommand.msg
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@@ -102,6 +102,7 @@ uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibrati
uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
# PX4 vehicle commands (beyond 16 bit mavlink commands)
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX)