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move vehicle at rest detection ekf2 -> land_detector

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- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-02-01 17:50:19 -05:00
committed by GitHub
co-authored by : bresch
parent e387f302f9
commit f3e2a197ad
19 changed files with 408 additions and 441 deletions
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src/modules/ekf2/EKF2.hpp
-9
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@@ -86,7 +86,6 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_imu.h>
#include <uORB/topics/vehicle_imu_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
@@ -154,8 +153,6 @@ private:
void PublishWindEstimate(const hrt_abstime &timestamp);
void PublishYawEstimatorStatus(const hrt_abstime &timestamp);
void SelectImuStatus();
void UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
@@ -164,7 +161,6 @@ private:
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateImuStatus();
void UpdateAccelCalibration(const hrt_abstime &timestamp);
void UpdateGyroCalibration(const hrt_abstime &timestamp);
@@ -257,7 +253,6 @@ private:
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::SubscriptionCallbackWorkItem _sensor_combined_sub{this, ORB_ID(sensor_combined)};
@@ -536,10 +531,6 @@ private:
(ParamExtFloat<px4::params::EKF2_PCOEF_Z>)
_param_ekf2_pcoef_z, ///< static pressure position error coefficient along the Z body axis
// Test used to determine if the vehicle is static or moving
(ParamExtFloat<px4::params::EKF2_MOVE_TEST>)
_param_ekf2_move_test, ///< scaling applied to IMU data thresholds used to determine if the vehicle is static or moving.
(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check, ///< Mag field strength check
(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>)