0d6c2c8ce9
EKF2: Error-State Kalman Filter ( #22262 )
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* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states
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Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
2023-10-31 10:02:18 -04:00
9676af2fe6
ekf2: predict covariance avoid explicit temporary nextP
2023-10-13 20:57:33 -04:00
5352a64042
ekf2: symforce derivation allow optionally disabling mag and wind states
2023-10-10 17:31:11 -04:00
fc32820e19
ekf2: initialize wind covariance using symforce
2023-10-09 21:03:38 -04:00
05fd8c5976
EKF2: centralized auto-generated state ( #22183 )
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* ekf2_derivation: use single source of state definition
The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition
* ekf2: generated state sample add const reference getter
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Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-10-06 10:28:21 -04:00
779ea3f4d1
ekf2: access state covariance using enum
2023-09-19 09:37:50 -04:00
016db84d69
ekf2: covariance update use IMU sample dt ( #22032 )
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- usually the delta angle and delta velocity dt is the same, but they can be slightly different
2023-09-13 09:58:56 -04:00
0282f85cd4
ekf2: compute quat tilt variance using SymForce
2023-08-29 10:57:49 -04:00
b6fb95247b
ekf2_derivation: fix typo
2023-08-08 12:09:56 -04:00
de702a2e63
ekf2: fix function to increase yaw variance
2023-08-08 12:09:56 -04:00
cd77d52dc1
ekf2: calcRotVecVariances using SymForce
2023-08-07 14:28:06 -04:00
84b6b472b4
ekf2: change delta angle and delta velocity bias states to accel and gyro bias ( #21901 )
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* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2023-07-28 09:31:44 -04:00
fdf7867a3e
ekf2: update derivation to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
9d7abf2552
ekf2: symforce - use builtin Rot3 and Quaternion operations
2023-06-05 11:58:42 -04:00
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
fa6fda6cce
ekf2: new gravity observation ( #21038 )
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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com >
2023-02-07 13:28:58 -05:00
efe1d43550
ekf2: symforce codegen remove reserved identifier naming
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- 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
420f5ef2b7
ekf2: migrate drag fusion derivation to SymForce
2023-01-05 12:03:24 -05:00
eff2c6adcf
ekf2: migrate GNSS yaw fusion to SymForce
2022-11-22 09:59:31 -05:00
b54a4417fa
ekf2: migrate flow fusion to SymForce
2022-11-14 11:51:32 -05:00
2f3ea88099
ekf2: migrate mag declination to SymForce
2022-10-20 18:16:25 -04:00
f11908a266
ekf2: generate yaw fusion jacobians using symforce
2022-10-19 17:34:31 +02:00
b92cbe12a0
ekf2: migrate mag 3D fusion to symforce
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ekf2: merge mag 3d innov var, Hx and Kx computation to reduce flash
Slightly less code produced, almost no performance change
ekf2_mag3D: do not pre-compute Kalman gains
The vector of Kalaman gains is not too expensive to compute using
matrix-vector multiplication. Pre-generating it using CSE takes a lot of
flash space for little benefit.
2022-10-17 16:14:56 -04:00
a4e511b90e
ekf2: migrate covariance prediction to SymForce
2022-10-14 11:42:23 -04:00
bdd043f27f
ekf2: fix sideslip fusion sign
2022-10-12 16:14:47 +02:00
5f54f6fcda
ekf2: migrate sideslip fusion to SymForce
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- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
2022-10-12 09:55:35 -04:00
29ebef1f74
ekf2: migrate fuse_airspeed to SymForce
2022-10-03 10:59:42 -04:00
Mathieu Bresciani