369 Commits

Author	SHA1	Message	Date
isidroas	0c5291d194	Heading reset to magnetometer from GPS or EV (#969)	2021-02-16 14:37:34 +01:00
Mathieu Bresciani	d4258cc66d	yaw emergency: check angle between vel observation and estimate (#975) ... use thresholds based on state and obs variance * [AUTO COMMIT] update change indication	2021-02-15 10:31:16 +01:00
Paul Riseborough	6f664abc4a	EKF: Non functional changes arising from review	2021-02-09 19:55:32 +11:00
Paul Riseborough	b87778e61d	EKF: Make clip detection logic easier to follow	2021-02-09 19:55:32 +11:00
Paul Riseborough	9aa8d93efc	EKF: Use isRecent function	2021-02-09 19:55:32 +11:00
Paul Riseborough	e948b3505f	EKF: Don't reject vertical aiding data if inertial solution is bad ... Also reduce clipping count threshold	2021-02-09 19:55:32 +11:00
Paul Riseborough	c566318db5	EKF: misc improvements to handling of accel clipping	2021-02-09 19:55:32 +11:00
Paul Riseborough	9c89fa3b29	EKF: Use IMU clipping to adjudicate bad accel data check	2021-02-09 19:55:32 +11:00
Paul Riseborough	efb78deef9	EKF: Set position fusion gate option false by default	2021-01-21 20:55:42 +11:00
Paul Riseborough	556a195320	EKF: Improve handling of non position mode large position innovations ... These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.	2021-01-21 20:55:42 +11:00
bresch	c212975abe	rng height: reset to baro using common logic ... The failsafe from rng height to baro height should occur after a reset to baro triggered by the controlHeightSensorTimeouts function and not in the fusion selector. Until now, the EKF was fusing baro measurements between rng updates if the range finder ODR was slower than the EKF update rate. This is not the case anymore as the height reset occurs after 5 seconds. The unit test has been extended to show this behavior.	2021-01-07 10:07:57 +01:00
Paul Riseborough	31fca9c31d	EKF: Update GPS loss message	2021-01-05 21:08:28 +11:00
Daniel Agar	a8e0e82858	EKF: update mag LPF immediately	2020-12-17 10:46:04 +01:00
Mathieu Bresciani	5ccb8b457d	fakePosFusion: reset _last_known_posNE to current state when starting (#943) ... * [AUTO COMMIT] update change indication	2020-12-15 10:09:01 +01:00
bresch	b0cf45e2d2	gps_alt: rename getGpsAltVar -> getGpsHeightVariance	2020-12-13 14:39:50 +11:00
bresch	02369cd415	gps_alt: extract measurement variance computation and saturation	2020-12-13 14:39:50 +11:00
Mathieu Bresciani	8f3df7a97b	flow: restructure optical flow control logic (#928) ... - extract motion checks performed on ground - move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion. - add filter convergence test - move check for dt time max in setOpticalFlowData - in the simulator, do not update dt as this is the sensor integration period.	2020-12-09 11:33:00 +01:00
Daniel Agar	688a054bdb	EKF: controlDragFusion() add parenthesis for readability	2020-12-08 18:03:04 -05:00
Paul Riseborough	ee94980a8f	EKF: Clean up wind state activation logic ... Ensure wind states are deactivated in one place and always when in a non-position mode. Activate wind states separately for each observation method.	2020-12-08 18:03:04 -05:00
Claudio Micheli	c4d162f9a0	EKF: range_finder parameterize range sensor quality hysteresis time ... Signed-off-by: Claudio Micheli <claudio@auterion.com> Co-authored-by: bresch <brescianimathieu@gmail.com>	2020-11-04 12:35:39 -05:00
Daniel Agar	a21092804a	EKF: remove virtual getters from estimator_interface	2020-11-02 09:35:47 -05:00
Daniel Agar	6e99ebd928	EKF: add fault status bit for bad vertical accel data	2020-10-26 17:37:15 +01:00
Paul Riseborough	e82d0af6d2	EKF: Improve code clarity - non functional change	2020-10-06 20:50:52 +11:00
Paul Riseborough	7c81350c7a	EKF: Don't yaw reset if not yaw induced nav failure	2020-10-06 20:50:52 +11:00
Daniel Agar	4c2355a638	EKF: use GPS to lookup declination from WMM before full GPS checks pass	2020-09-28 08:43:32 +02:00
kamilritz	310b989c9a	refactor start of gps into separate function	2020-08-07 10:02:47 +02:00
kamilritz	960b80ee71	Do not update output filter a second time after reset to flow.	2020-08-03 09:51:59 +02:00
kritz	88c52aba5e	Refactor ev fusion start into helper functions (#872)	2020-07-27 11:42:52 +02:00
kamilritz	3651ed37fb	Do not update time_last_imu outside of setGpsData	2020-07-17 11:06:36 +02:00
kamilritz	b5e1397c0f	Add const modifier ... const modifier Add missing const modifier	2020-07-16 18:25:06 +02:00
kamilritz	b5765eb3b4	Move variable declaration to better place & ... remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay	2020-07-16 18:25:06 +02:00
kamilritz	3d82d822ae	Add const modifier	2020-07-16 18:25:06 +02:00
kamilritz	93011ed52c	Use ternary operator	2020-07-16 18:25:06 +02:00
bresch	97e54df123	Gps control: add missing consts and reduce variable scope	2020-07-02 13:35:13 +02:00
bresch	b0f79caf34	GPS yaw: Extract and refactor GPS yaw control logic ... - Rename GPS yaw fusion functions: resetGpsAntYaw -> resetYawToGps fuseGpsAntYaw -> fuseGpsYaw - Move last fusion time in reset function	2020-07-02 13:35:13 +02:00
bresch	4b746a3fca	GPS Yaw: add consts and remove fusion starting message ... The fusion status is captured in the status flags; the message is superfluous, uses flash space and can impact real-time performance	2020-06-23 08:43:48 +02:00
bresch	2bafe9df08	GPS Yaw: wait to fuse at yaw at least once before declaring it faulty ... This fixes the cases where the yaw message from the GNSS receiver would take more time than the vel/pos. The estimator should wait and not immediately fall back to an other aiding source after 5sec. If it never comes, it will never fall back, but this is ok since the user wants to fly with GPS aiding an not with something else.	2020-06-23 08:43:48 +02:00
bresch	51cd63d626	GPS Yaw: fall back to other yaw aiding source in case of bad data ... If the user selects GPS yaw fusion but that there is no GPS yaw data in the GPS message or if the fusion is rejected for some time, the GPS yaw data is declared faulty and the fusion is stopped to allow an other source of yaw aiding to start.	2020-06-23 08:43:48 +02:00
bresch	fe2a9d3018	GPS Yaw: move isfinite checks in control.cpp	2020-06-23 08:43:48 +02:00
bresch	3c6790f5d5	GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting ... Also avoid fusing fake mag data when an other source of yaw aiding is active, even if in MAG_TYPE_NONE mode.	2020-06-23 08:43:48 +02:00
Kamil Ritz	74780aa512	Refactor gps fusion commencing	2020-06-12 15:11:16 +02:00
Paul Riseborough	c91c78dcf6	EKF: Allow reset of yaw to EKF-GSF later in flight	2020-05-22 13:05:10 +03:00
kritz	716caa5168	Refactor position resets (#822)	2020-05-19 21:53:46 +02:00
Paul Riseborough	19bbea75c0	Fix GPS altitude not fused if GPS checks fail and GPS is primary height source (#813) ... * EKF: Fix failure to select a height sensor * EKF: Remove unnecessary check and improve documentation	2020-05-14 19:26:16 +10:00
kritz	24f2e60b7e	Reduce stored strings, to save flash space (#815)	2020-05-13 08:09:26 +02:00
kritz	98801ad17b	Support vision velocity expressed in body frame too (#708) ... * Support vision velocity expressed in body frame * Use switch statement for vision velocity frame * Robustify vision velocity frame test * Increase lower bound on vision velocity noise to 0.05 m/s	2020-05-12 16:03:35 +02:00
kritz	c3de452e8e	Remove duplicate code during vision yaw reset (#810)	2020-05-12 08:44:39 +02:00
kritz	03191847f9	Fix ev_pos_obs_var(1) entry (#809)	2020-05-11 10:44:05 +02:00
Kamil Ritz	440383f039	Increase matrix library usage and remove white line	2020-05-11 09:09:52 +02:00
Paul Riseborough	cda7486897	EKF: Prevent yaw reset to GPS caused by loss of GPS data (#805)	2020-04-30 17:50:26 +10:00