1b1c049e81
test: Update unit test to match expected behaviour
2021-01-09 11:03:31 -05:00
dd259a288f
EKF: Don't modify accel bias states and variances when inhibited
2021-01-09 11:03:31 -05:00
3e1f2d8674
EKF: Set dvel bias variance to stored value when state is inactive
2021-01-09 11:03:31 -05:00
c212975abe
rng height: reset to baro using common logic
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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
03fed323ab
EKF: Fix formatting
2021-01-05 21:08:28 +11:00
31fca9c31d
EKF: Update GPS loss message
2021-01-05 21:08:28 +11:00
c65cf13bb8
EKF; Treat combined sideslip and airspeed as a horizontal aiding source
2021-01-05 21:08:28 +11:00
211c84c85b
Rng finder unit test: cover "un-stuck" logic
2021-01-05 20:04:17 +11:00
78ce46f007
Removing Matlab derivation
2021-01-02 06:29:11 +11:00
18f334f4db
flow: add unit test for yaw motion ( #950 )
2020-12-25 09:47:14 +01:00
df7f261e03
Add missing const modifier
2020-12-20 14:04:29 +01:00
a8e0e82858
EKF: update mag LPF immediately
2020-12-17 10:46:04 +01:00
398fe159ce
EKF: allow initialising without mag depending on configuration
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- reduce initial number of required mag and baro samples before init
2020-12-17 19:55:51 +11:00
1237087d70
AlphaFilter add constructor that takes alpha and use in EKF
2020-12-16 13:55:59 -05:00
37e84b763a
README: fix zenodo badge (rename ecl -> PX4-ECL)
2020-12-16 10:47:21 -05:00
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting ( #943 )
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* [AUTO COMMIT] update change indication
2020-12-15 10:09:01 +01:00
9d22f140dd
gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc
2020-12-13 14:39:50 +11:00
b0cf45e2d2
gps_alt: rename getGpsAltVar -> getGpsHeightVariance
2020-12-13 14:39:50 +11:00
62f2e26c49
gps_alt: reset GPS alt variance usign helper function
2020-12-13 14:39:50 +11:00
f7bddda3d5
gps_alt: do not scale up reported gps vertical accuracy
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The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
2020-12-13 14:39:50 +11:00
02369cd415
gps_alt: extract measurement variance computation and saturation
2020-12-13 14:39:50 +11:00
1541e4b414
EKF: update control status and fault status getters
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- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
2020-12-10 09:13:12 -05:00
fbf67bdef9
reset gps height use vacc
2020-12-10 10:07:59 +01:00
8f3df7a97b
flow: restructure optical flow control logic ( #928 )
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- 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
38358002bb
Auto update change indication by github actions
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Co-authored-by: kamilritz <kamilritz@users.noreply.github.com >
2020-12-08 18:05:28 -05:00
688a054bdb
EKF: controlDragFusion() add parenthesis for readability
2020-12-08 18:03:04 -05:00
944b18c63e
EKF: Remove non useful status print
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Local position is never valid when filter is initialised so there is no use printing the status.
2020-12-08 18:03:04 -05:00
ee94980a8f
EKF: Clean up wind state activation logic
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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
44ebfb8c43
EKF: Don't report local position as valid when in a non-position mode
2020-12-08 18:03:04 -05:00
da7d41e78a
EKF: add mag bias reset helper and update IMU bias reset to match ( #924 )
2020-12-08 12:16:59 -05:00
03cfcb903e
EKF: RingBuffer minor improvements
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- allocate IMU and output buffers on construction according to defaults
- determine buffer max time delay based on configuration parameters
- reorder flowSample and extVisionSample to minimize padding
- adjust parameter defaults to match PX4-Autopilot
2020-12-03 20:48:51 -05:00
67f13f7ede
Update geo_lookup WMM to latest Wed Dec 2 11:48:25 UTC 2020
2020-12-02 19:47:46 -05:00
da9f314b69
mag: use strength in Gauss
2020-11-10 20:25:09 +11:00
c4d162f9a0
EKF: range_finder parameterize range sensor quality hysteresis time
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
Co-authored-by: bresch <brescianimathieu@gmail.com >
2020-11-04 12:35:39 -05:00
6158d6d841
EKF: add const reference getters for status flags
2020-11-02 13:05:08 -05:00
a21092804a
EKF: remove virtual getters from estimator_interface
2020-11-02 09:35:47 -05:00
48a8992caf
EKF: move small simple getters to header
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- return by const reference where possible
2020-10-30 09:48:45 -04:00
defb35d8f5
EKF: pass imuSample by const reference
2020-10-30 09:47:22 -04:00
d85e24d3ca
EKF: Ekf class is final
2020-10-27 08:53:58 -04:00
961b545da0
cmake: respect MAX_CUSTOM_OPT_LEVEL if set
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- ignored for Debug and Coverage builds
2020-10-27 08:53:58 -04:00
5ea8824439
EKF: inline simple getters
2020-10-27 08:53:58 -04:00
6e99ebd928
EKF: add fault status bit for bad vertical accel data
2020-10-26 17:37:15 +01:00
d936b85d71
EKF: add fault status bit for clipping
2020-10-26 17:37:15 +01:00
dd3ffc4192
Optical flow: compute velociy from corrected flow data for logging ( #920 )
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This is really useful when debugging optical flow data
2020-10-26 13:27:52 +01:00
9126282c03
CI: update containers, sync with px4/Firmware
2020-10-26 11:07:13 +01:00
e80a683981
CI: update change indicator of yaw emergency estimator
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This was incorrectly uptated in 1a7c68ea72
2020-10-26 11:07:13 +01:00
f666ebb995
EKF: Code format fix - replace 1E-x with 1e-x
2020-10-06 20:50:52 +11:00
e82d0af6d2
EKF: Improve code clarity - non functional change
2020-10-06 20:50:52 +11:00
1a7c68ea72
EKF: update change indicator
2020-10-06 20:50:52 +11:00
759d217d5a
EKF: Improve protection for GSF weight collapse
2020-10-06 20:50:52 +11:00
Paul Riseborough