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pr-cleanup-fw-state
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966 Commits
Author SHA1 Message Date
Daniel Agar 4d9369dc67 Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
Silvan Fuhrer d532578ecc EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
bresch 3e3307c0d0 ekf2: fix mag declination innovation angle wrapping 2023-03-21 21:07:28 -04:00
Daniel Agar 32a5bd32ad ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator) 2023-03-21 11:25:34 -04:00
Daniel Agar 0784901a66 ekf2: add kconfig option to enable/disable optical flow fusion 2023-03-21 11:25:34 -04:00
Matthias Grob b0189d95af Use new Vector4 class 2023-03-21 15:01:26 +01:00
Matthias Grob 08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Daniel Agar 19a2b4ec31 ekf2: GNSS yaw only reset test ratio for new samples 
- otherwise external test ratio monitoring could trigger a false positive
 2023-03-14 21:49:24 -04:00
bresch fd33e60f78 ekf: fix GNSS yaw fusion wrapping 2023-03-13 10:46:34 +01:00
Daniel Agar b3cc945a5a ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset() 2023-03-09 09:08:27 -05:00
Daniel Agar c1f244a6fd ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) 2023-03-09 09:07:54 -05:00
Daniel Agar 4dda5a97d8 ekf2: mag_3d check mag bias variance before allowed to update all states (orientation) 2023-03-08 15:12:48 -05:00
Daniel Agar d45aeae1de ekf2: add and share centralized method to clear inhibited state Kalman gains 2023-03-07 13:27:57 -05:00
Beniamino Pozzan b79578fa55 efk2: Force external vision vertical position if EKF2_HGT_REF=VISION 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-06 09:19:49 -05:00
Daniel Agar 3fac85369e ekf2: gps control use adjusted velocity and position for reset 2023-03-06 09:03:39 -05:00
Daniel Agar b5a6d6db0d ekf2: fix controlEvYawFusion() yaw reset 2023-02-24 16:59:59 -05:00
Daniel Agar 98263de17b ekf2: move aux vel helpers to auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar a199df78cc ekf2: move mag control helpers to mag_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c20e4e4421 ekf2: move stopFlowFusion() to optical_flow_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 3a317ec18c ekf2: move gps helpers to gps_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 9ec3f30ae1 ekf2: move gps buffer pop to controlGpsFusion() 
- controlGpsFusion() now owns yaw estimator update
 2023-02-22 09:08:33 -05:00
Daniel Agar a867bb7d88 ekf2: let controlAirDataFusion() update yaw estimator TAS 2023-02-22 09:08:33 -05:00
Daniel Agar 60856ebe62 ekf2: move range buffer pop to controlRangeHeightFusion() 2023-02-22 09:08:33 -05:00
Daniel Agar 08f111f694 ekf2: consolidate airspeed fusion logic and helpers 
- pass new airspeed sample around when available
 - can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
 2023-02-22 09:08:33 -05:00
Daniel Agar 241cee2bb7 ekf2: move airspeed buffer pop to controlAirDataFusion 2023-02-22 09:08:33 -05:00
Daniel Agar 0711a34d0e ekf2: move flow buffer pop to controlOpticalFlowFusion 2023-02-22 09:08:33 -05:00
Daniel Agar ed8cef6cf0 ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar b4e845d7c0 ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c08a387c5a ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d61b8c21b2 ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d840f7f39f ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp 2023-02-22 09:08:33 -05:00
bresch 8ebf47edb1 ekf2: stop mag fusion when there is no data anymore 2023-02-17 08:51:55 -05:00
Daniel Agar 2ea25804a1 ekf2: allow filter init with only IMU (#21041) 
- if mag enabled heading init is now pushed to controlMagFusion()
 2023-02-13 22:07:15 -05:00
Hamish Willee edb6c635d5 EKF2_MAG_TYPE - fix typos (#20808) 2023-02-10 14:39:57 +01:00
Daniel Agar 7b3befded5 ekf2: disable new gravity fusion by default 2023-02-07 13:57:10 -05:00
Daniel Sahu fa6fda6cce ekf2: new gravity observation (#21038) 
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
 2023-02-07 13:28:58 -05:00
Daniel Agar 04d3e549f5 ekf2: resetQuatStateYaw() set _time_last_heading_fuse 2023-02-03 10:03:09 -05:00
Daniel Agar 66ad7fd06c ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc) 
- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
 - reset() more thoroughly reset fields (mainly impacts unit tests)
 2023-02-03 10:00:51 -05:00
Daniel Agar 264a99fb77 ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism 
- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
 2023-02-03 09:52:24 -05:00
Daniel Agar f668ea5aa6 ekf2: RingBuffer add reset method 2023-02-03 08:49:44 -05:00
Daniel Agar e3d73cd837 ekf2: mag control reset mag_lpf on first sample 2023-02-02 16:12:09 -05:00
Daniel Agar efe1d43550 ekf2: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00