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ekf2: EV overhaul yaw and position fusion (#20501)

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- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
This commit is contained in:
Daniel Agar
2022-12-20 10:23:56 -05:00
committed by GitHub
parent 20342216e2
commit 54a32eb2f7
34 changed files with 1019 additions and 553 deletions
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msg/CMakeLists.txt
+1
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@@ -74,6 +74,7 @@ set(msg_files
EstimatorAidSource2d.msg
EstimatorAidSource3d.msg
EstimatorBias.msg
EstimatorBias3d.msg
EstimatorEventFlags.msg
EstimatorGpsStatus.msg
EstimatorInnovations.msg
msg/EstimatorBias.msg
+1 -1
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@@ -9,4 +9,4 @@ float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
msg/EstimatorBias3d.msg
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@@ -0,0 +1,14 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32[3] bias # estimated barometric altitude bias (m)
float32[3] bias_var # estimated barometric altitude bias variance (m^2)
float32[3] innov # innovation of the last measurement fusion (m)
float32[3] innov_var # innovation variance of the last measurement fusion (m^2)
float32[3] innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_bias3d
# TOPICS estimator_ev_pos_bias
msg/VehicleOdometry.msg
+1 -1
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@@ -28,4 +28,4 @@ uint8 reset_counter
int8 quality
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry estimator_visual_odometry_aligned
# TOPICS estimator_odometry