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1ae467e9cd80e76b0ffad5c003e5f32f47d0ff7d
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47 Commits

Author SHA1 Message Date
Daniel Agar 1ae467e9cd ekf2: estimator aid source status (starting with fake position) 2022-05-23 16:21:49 -04:00
Daniel Agar db4545e442 Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022 2022-05-21 14:57:55 -04:00
mcsauder ea10eacb99 Replace EKF/common.h #defines with enums. 2022-05-18 09:25:19 -04:00
bresch e32a484906 [AUTO COMMIT] update change indication 2022-04-25 12:58:18 -04:00
Daniel Agar 8166a500ac Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 (#19475) 2022-04-12 10:11:51 -04:00
Daniel Agar a430f0ccae ekf2: add simple zero velocity update when vehicle at rest (#19149) 
- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
 2022-03-12 12:56:31 -05:00
Daniel Agar b7e0f17c6a ekf2: minor position/velocity reset cleanup 
- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally
 2022-03-08 11:16:35 -05:00
Daniel Agar 6224e11463 Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 (#19262) 
* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-02-26 15:39:37 -05:00
Daniel Agar d6d529539d ekf2: consolidate and simplify gnd effect logic 2022-02-22 16:59:10 -05:00
bresch 0e0e0d8be7 [AUTO COMMIT] update change indication 2022-02-22 11:49:25 +01:00
bresch 4f0a959244 gps_hgt: add and improve unit tests 2022-02-22 11:49:25 +01:00
bresch 502ec7ef46 ekf_terr: fix unit test 
the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
 2022-02-11 10:57:45 -05:00
Daniel Agar 893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar f3e2a197ad move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
Daniel Agar ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
bresch 82e88a9547 [AUTO COMMIT] update change indication 2022-01-25 15:07:48 +01:00
bresch d20e46567e ekf2: improve flow for terrain unit test 2022-01-25 15:07:48 +01:00
bresch 1502d77df2 ekf: refactor fake position control logic 2022-01-25 15:07:48 +01:00
dagar 476c1e5c09 [AUTO COMMIT] update change indication 2022-01-19 09:04:53 -05:00
Daniel Agar 92a5bbe97f ekf2: improve ring buffer sizing and dynamically allocate 2022-01-19 09:04:53 -05:00
PX4BuildBot 6fbc0e95d0 [AUTO COMMIT] update change indication 2022-01-04 09:12:45 -05:00
FengShun 8f8719d33b cmake: use add_definitions instead of add_compile_definitions 
Using make tests in docker will fail, because the current basic image used by px4io/px4-dev-simulation-bionic is ubuntu18.04, the default version of cmake is 3.10, and the add_compile_definitions command is only available in cmake 3.12+(ubuntu 20.04).
 2021-12-27 12:19:31 -05:00
bresch 0d874cf00a ekf2: move aiding start details in dedicated function 
When an aiding source needs to be started, simply call the corresponding
starting function and any required reset is handled in there.
 2021-12-10 15:18:10 +01:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
PX4BuildBot aae794965a [AUTO COMMIT] update change indication 2021-12-05 11:03:58 -05:00
dagar 9646b49b60 [AUTO COMMIT] update change indication 2021-11-18 13:58:53 -05:00
Daniel Agar fec0d6c5ed ekf2: change indication further reduce data precision 2021-11-02 10:21:54 +01:00
bresch 1317b1a6e1 [AUTO COMMIT] update change indication 2021-11-01 13:59:34 +01:00
bresch e90734881b ekf2_test: add more GPS fusion control tests 2021-11-01 13:59:34 +01:00
dagar a2801bab80 [AUTO COMMIT] update change indication 2021-10-26 14:39:58 -04:00
bresch 3927c183de ekf2_test: adjust airspeed unit test 
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required

Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
 2021-10-26 10:18:56 +02:00
bresch 0a140ec59a ekf2_test: add GPS height to baro fallback 2021-10-26 10:05:28 +02:00
bresch f4c21cedd9 ekf2_test: use motion_planning for dynamic yaw emergency test 2021-10-25 18:06:38 -04:00
bresch 340a2caa8e ekf2_test: use motion_planning library 
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
 2021-10-25 18:06:38 -04:00
Daniel Agar 2b1c97eb37 Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021 2021-08-22 16:28:00 -04:00
bresch 44219e9f45 EKF: add GNSS yaw to emergency yaw fallback test 2021-08-05 11:10:02 +02:00
bresch 4ebfbc6eab GNSS yaw: use NIS sequence to detect bias in state 
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
 2021-08-05 11:10:02 +02:00
bresch 3fe04a91f6 GNSS yaw: add observation jump on ground 
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
 2021-08-05 11:10:02 +02:00
Daniel Agar 54918f650b Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021 2021-08-01 13:53:53 -04:00
bresch 639e0a39cf EKF2: add yaw estimator alignment test 2021-07-27 13:34:53 +02:00
Mathieu Bresciani 17ebcd2456 mag_control: fuse fake heading during leveling fine alignment (#17964) 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2021-07-27 11:50:50 +02:00
Daniel Agar e01b631465 ekf2: change indication test limit float precision to minimize false positives 2021-07-26 13:54:36 -04:00
dagar a8e3c46cdb [AUTO COMMIT] update change indication 2021-07-19 16:53:45 -04:00
Daniel Agar 9ac860ac33 ekf2: test fix double promotion warnings 2021-07-18 15:49:53 -04:00
Daniel Agar 9087ba2259 world_magnietc_model: update to latest and fix code style 
- minimize test_geo_lookup.cpp optimization to improve compile times
 2021-07-18 15:49:53 -04:00
mcsauder f34862f143 Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file. 2021-07-17 12:24:56 -04:00
Daniel Agar 2cf66a5d8f ekf2: move EKF out of ecl 2021-07-15 10:38:24 -04:00