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ekf2: improve attitude estimation without horizontal aiding

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- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-01-17 10:27:25 -05:00
co-authored by bresch
parent 8158a14eff
commit ed0d26de8a
9 changed files with 650 additions and 631 deletions
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src/modules/ekf2/EKF/ekf.h
+3
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@@ -255,7 +255,10 @@ public:
matrix::Vector<float, State::size> covariances_diagonal() const { return P.diag(); }
matrix::Vector<float, State::quat_nominal.dof> getQuaternionVariance() const { return getStateVariance<State::quat_nominal>(); }
float getTiltVariance() const { return getStateVariance<State::quat_nominal>()(0) + getStateVariance<State::quat_nominal>()(1); };
Vector3f getVelocityVariance() const { return getStateVariance<State::vel>(); };
Vector3f getPositionVariance() const { return getStateVariance<State::pos>(); }
// get the ekf WGS-84 origin position and height and the system time it was last set