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Author	SHA1	Message	Date
Marco Hauswirth	44967bdaab	ekf2: uncorrelate position covariance after velocity reset (#23644)	2024-09-06 08:51:15 -04:00
Marco Hauswirth	7dcea6b2e4	EKF2: range measurement rejection in rain/fog (#23579)	2024-08-30 17:25:56 +02:00
Marco Hauswirth	39abd87949	set best sensor to -1 after last sensor fails (#23425)	2024-07-24 11:24:07 +02:00
Marco Hauswirth	419652b9fe	EKF2: Spoofing GPS check (#23366) ... * estimator gps check fail flag for spoofing * warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion * dont introduce more GPS namings, GNSS instead * flash: exclude mantis for cuav_x7pro	2024-07-09 16:31:11 +02:00
Marco Hauswirth	4bc0286eb8	fix error from refactring commit, fix reset on ground (#23370)	2024-07-08 13:55:05 +02:00
Marco HauswirthandDaniel Agar	e04c53241a	EKF2: reset position by fusion (#23279) ... * reset position by fusion * handle local_pos_valid for fixed wing in gnss denied * [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding * global origin, also reset vertical pos without gps as ref * fix wo gnss, that bitcraze ci passes * revert some changes as requested * remove duplicate reset messages * undo unrelated whitespace changes, I'll fix it everywhere in a followup * [SQUASH] ekf2: add vehicle_command_ack * resetGlobalPosToExternalObservation consolidate logic * remove gnss check from local_pos validation check * reset when 0<accuracy<1, otherwise fuse * replace gps param with flag * ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected * subtract timeout from last inertial dead-reck, change fake pos conditions, save flash --------- Co-authored-by: Daniel Agar <daniel@agar.ca>	2024-07-07 22:43:55 +02:00
Marco Hauswirth	a1f43636f3	ekf2: EV fusion in body frame (#23191)	2024-07-04 21:17:19 -04:00
Marco Hauswirth	3880073716	ekf2: fix timeout after gps failure (#23346)	2024-07-02 10:38:49 -04:00
Marco Hauswirth	db2f616400	reduce transition pusher throttle (#23262)	2024-06-12 18:10:50 +02:00