ea10eacb99
Replace EKF/common.h #defines with enums.
2022-05-18 09:25:19 -04:00
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest ( #19149 )
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- 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
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector
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- 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
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
fec0d6c5ed
ekf2: change indication further reduce data precision
2021-11-02 10:21:54 +01:00
f4c21cedd9
ekf2_test: use motion_planning for dynamic yaw emergency test
2021-10-25 18:06:38 -04:00
340a2caa8e
ekf2_test: use motion_planning library
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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
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
9ac860ac33
ekf2: test fix double promotion warnings
2021-07-18 15:49:53 -04:00
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
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
mcsauder