0639f5370c
ekf2: fix mag and wind covariance prediction
2024-03-07 11:06:31 -05:00
2bacb4b65d
ekf2: update change indicator
2024-03-07 15:11:47 +01:00
421f13e4b5
ekf2: fix joseph covariance update for Schmidt-Kalman filter
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If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
2024-03-07 15:11:47 +01:00
6f9a378247
yaw_est: force set gyro bias when at rest
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The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
2024-03-05 14:00:06 -05:00
28db3e1c8c
ekf2: update change indicator
2024-02-27 12:33:43 -05:00
e9d43015ce
ekf2: fix unit tests failing due to mag fusion changes
2024-02-27 12:33:43 -05:00
b46fc9a67d
ekf2 sensor_sim: set correct world mag field
2024-02-27 12:33:43 -05:00
b80f15f7b5
ekf2-mag_auto: always use mag 3D after takeoff
2024-02-27 12:33:43 -05:00
051baec9c4
ekf2: allow wind dead-reckoning after manual position reset
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Reset velocity using airspeed and start navigating
2024-02-27 09:34:05 -05:00
8001132d33
ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement
2024-02-26 12:32:59 -05:00
08a2a6c836
update EKF2 change indicator
2024-02-26 12:32:59 -05:00
d501d8e1d4
ekf2: use Joseph stabilized update in direct state observations
2024-02-26 12:32:59 -05:00
9d9766c6cf
ekf2: use Joseph stabilized covariance update
2024-02-26 12:32:59 -05:00
37a40d3fc2
baro static pressure compensation tuning: remove dependency to baro bias
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`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
2024-02-23 10:07:13 +01:00
506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)
2024-02-21 09:45:44 -05:00
8243b4f474
ekf2: move vel/pos reset helpers
2024-02-20 13:16:24 -05:00
22b957696d
ekf2: velocity/position fusion helper minor consistency cleanup
2024-02-20 13:16:24 -05:00
c338891677
ekf2: split vel_pos_fusion.cpp
2024-02-20 13:16:24 -05:00
c4c41c49e5
ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()
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- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-20 13:16:24 -05:00
021dd0d0af
ekf2: fix EV height bias predict call
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- needs to be called every iteration
2024-02-20 11:47:53 -05:00
c221da27a7
ekf2: set attitude validity flag using centralized function
2024-02-20 11:33:30 -05:00
1032dd3470
ekf: fix measurementUpdate comment typo
2024-02-19 09:41:49 +01:00
8dc3975456
ekf2: only populate gnss pos aid src status if ref initialized
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- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
2024-02-15 13:13:10 -05:00
f636414ca7
tuning_tools: Change 1G to a more accurate value
2024-02-09 10:26:57 -05:00
17d55dddd6
ekf2-drag: do not generate Kalman gain to save flash
2024-02-06 12:16:33 +01:00
1efb08375a
ekf2: let drag fusion affect the complete state vector
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This improves tilt estimation and can extend the inertial dead-reckoning
validity period
2024-02-06 12:16:33 +01:00
9c02e384e6
ekf2-agp: follow measurement reset
2024-01-30 11:23:55 -05:00
5d9081b0dd
ekf2-agp: ensure logging of AGP aid_src topic
2024-01-30 11:23:55 -05:00
4268759d4a
ekf2-agp: reset to measurement on fusion timeout
2024-01-30 11:23:55 -05:00
80f20e619c
ekf2: zvup sequential fusion
2024-01-29 12:12:37 -05:00
1d70e32551
Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024
...
Co-authored-by: PX4 BuildBot <bot@px4.io >
2024-01-26 09:08:51 -05:00
4e0967889c
ekf2: add verbose print status (moved out of DEBUG_BUILD)
2024-01-24 21:49:26 -05:00
51155f7a29
ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes ( #22597 )
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When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
---------
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-24 14:14:09 -05:00
cb396a6339
ekf2: fix computation of tilt and yaw variances add them to logging
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Co-authored-by: bresch <bresch@users.noreply.github.com >
2024-01-24 12:14:15 -05:00
da28d9a7f2
ekf2-grav: rename g-force unit to g0 to avoid confusion with grams
2024-01-24 13:26:25 +01:00
bf7da6430d
ekf2: consolidate LPOS & GPOS accuracy methods
2024-01-22 12:34:08 -05:00
7c7a3c117a
ekf2-gravity: nomalize gravity fusion and proper sequential fusion
2024-01-18 20:39:16 -05:00
d624fbba07
ekf2-grav: lower gate to reject real acceleration more effectively
2024-01-18 20:39:16 -05:00
c28972d15e
ekf2-grav: only use filtered accel norm to start/stop the fusion
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Using the raw data makes the swith too sensitive to noise
2024-01-18 20:39:16 -05:00
ed0d26de8a
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 >
2024-01-17 10:27:25 -05:00
64f28c4c07
ekf2: delete unused gps error norm field
2024-01-12 10:14:32 -05:00
8a031677d5
ekf2: verbose debug print status include state variances
2024-01-11 11:53:20 -05:00
4cb293020a
ekf2: remove sensor sample uORB::Subscription missed perf counters
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- these served their purpose, but are no longer useful
- still worth keeping the IMU subscription missed perf count to catch any scheduling issues
2024-01-11 11:52:29 -05:00
8bcba6128a
ekf2: fix resetGlobalPosToExternalObservation whitespace
2024-01-11 10:59:56 -05:00
603c3f6636
added support to reset vehicle position based on external position ( #22444 )
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via command MAV_CMD_EXTERNAL_POSITION_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-01-11 13:09:22 +01:00
d45c3d3407
ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print
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* ekf2: verbose print status
* matrix/Matrix improve print output
* bold diagonal elements, print ring buffer entry size
* print in scientific notation when >= 10 to respect max size
---------
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-10 09:46:04 -05:00
74549e29a5
[AUTO COMMIT] update change indication
2023-12-21 11:42:08 +01:00
36eb319834
ekf2-yaw_est: split imu and velocity updates
2023-12-18 18:11:20 +01:00
bba30663cc
update change indicator
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Caused by the GNSS checks being performed at the delayed-time horizon
2023-12-18 18:11:20 +01:00
a653073d4f
ekf2: perform GNSS checks at delayed-time horizon
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- never fuse a measurement that is not passing the checks
- cleanup and simplify GNSS vel/pos control logic
2023-12-18 18:11:20 +01:00
bresch