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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
parent e387f302f9
commit f3e2a197ad
19 changed files with 408 additions and 441 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+3 -3
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@@ -50,7 +50,7 @@ public:
SensorSimulator _sensor_simulator;
EkfWrapper _ekf_wrapper;
const float _init_tilt_period = 1.0; // seconds
const float _init_tilt_period = 0.3f; // seconds
// GTests is calling this
void SetUp() override
@@ -106,12 +106,12 @@ public:
const Vector3f pos_var = _ekf->getPositionVariance();
const Vector3f vel_var = _ekf->getVelocityVariance();
const float pos_variance_limit = 0.1f;
const float pos_variance_limit = 0.01f; // Fake fusion obs var when at rest
EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(0)" << pos_var(0);
EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
const float vel_variance_limit = 0.3f;
const float vel_variance_limit = 0.16f;
EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);