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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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src/modules/logger/logged_topics.cpp
+3 -7
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@@ -149,7 +149,7 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_baro_bias", 500);
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_hgt_bias", 500);
add_topic("estimator_ev_pos_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
@@ -160,13 +160,12 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_states", 1000);
add_topic("estimator_status", 200);
add_topic("estimator_status_flags", 0);
add_topic("estimator_visual_odometry_aligned", 200);
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
@@ -177,7 +176,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
@@ -248,7 +246,7 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_baro_bias");
add_topic("estimator_gnss_hgt_bias");
add_topic("estimator_rng_hgt_bias");
add_topic("estimator_ev_hgt_bias");
add_topic("estimator_ev_pos_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios");
@@ -259,7 +257,6 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_states");
add_topic("estimator_status");
add_topic("estimator_status_flags");
add_topic("estimator_visual_odometry_aligned");
add_topic("vehicle_attitude");
add_topic("vehicle_global_position");
add_topic("vehicle_local_position");
@@ -281,7 +278,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);