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Author SHA1 Message Date
Marco Hauswirth c8a1a38147 style(ekf2): minor style fixes 2026-04-02 16:20:19 +02:00
Marco Hauswirth 8624682db1 chore(boards): remove optical flow from holybro-kakutef7 build 2026-04-02 16:20:19 +02:00
Marco Hauswirth 4caee55a76 submodule(mavlink): update to latest mavlink/main to include ESTIMATOR_SENSOR_FUSION_STATUS, MAV_CMD_ESTIMATOR_SENSOR_ENABLE 2026-04-02 16:20:19 +02:00
Marco Hauswirth fffc1b5d04 test(ekf2): sync EkfWrapper with FusionControl enabled flags 
EkfWrapper now holds a FusionControl pointer and enables all sensors
by default. Sensor-specific enable methods also set fc.enabled = true.
 2026-04-02 16:20:19 +02:00
Marco Hauswirth 6a7e39aa64 feat(mavlink): ESTIMATOR_SENSOR_FUSION_STATUS stream 
Add MAVLink stream that maps EstimatorFusionControl uORB message to
ESTIMATOR_SENSOR_FUSION_STATUS, exposing per-sensor intended/active
bitmasks to the GCS.
 2026-04-02 16:20:19 +02:00
Marco Hauswirth 6306c78f79 feat(ekf2): EKF2_SENS_EN param, SensEnBit enum, MAVLink fusion command 
Add EKF2_SENS_EN bitmask parameter (replaces EKF2_EN_BOOT) with
per-sensor enable bits. initFusionControl reads SENS_EN while disarmed.
handleSensorFusionCommand sets FusionSensor.enabled via
VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE. syncSensEnParam writes back to
param on disarm. Update EstimatorFusionControl.msg to bool
intended/active fields. Update VehicleCommand.msg FUSION_SOURCE enum.
 2026-04-02 16:20:19 +02:00
Marco Hauswirth b9a1c429b3 refactor(ekf2): FusionSensor available/enabled/intended() data model 
Split FusionSensor into available (CTRL param != disabled) and enabled
(runtime-toggleable). intended() = enabled && available. EKF core aid
sources now set available themselves and use intended() or _params
directly for CTRL-level checks. Remove drag/imu from FusionControl,
add aspd/rngbcn. Add AGP sourceFusingBitmask() for active-status.
 2026-04-02 16:20:19 +02:00
Marco Hauswirth 0dd1640a54 feat(ekf2): enable fusion-ctrl toggle over mavlink cmd, CTRL param act only as reference 2026-04-02 16:20:19 +02:00
Marco Hauswirth 93955bd313 chore(gazebo): update gazebo-classic submodule, remove ranging-beacon from constrained-flash-boards 2026-04-01 15:01:31 +02:00
Marco Hauswirth 65c96fb2bf feat(simulation): add ranging beacon simulation in SIH 2026-04-01 15:01:31 +02:00
Marco Hauswirth f4c820c7e1 feat(ekf2): add ranging beacon fusion support 
- Add Symforce-derivation
- No altitude correction
- EKF2 replay
- New params
 2026-04-01 15:01:31 +02:00
Marco Hauswirth c260794122 feat(mavlink): add ranging beacon parser and uORB message 2026-04-01 15:01:31 +02:00
Marco Hauswirth b82894143e fix(sensors): restrict baro calibrations to ground 2026-03-25 17:29:22 +01:00
Marco Hauswirth f2608089fd fix(commander): decouple heading preflight check from attitude mode requirement 2026-03-17 20:47:12 +01:00
Marco Hauswirth 9fd967c857 fix(lib/events): add missing POSITION_SLOW and ALTITUDE_CRUISE to navigation_mode_groups 2026-03-17 20:27:52 +01:00
Marco Hauswirth 57a380d8ec ekf2: fix silent pass of preflt heading check if no heading src active 2026-02-27 13:26:47 +01:00
Marco Hauswirth 7297364484 fix ros-test-config for multi-APG 2026-02-20 17:43:45 +01:00
Marco Hauswirth 9e796daee8 add translation for aux_global_position 2026-02-20 17:43:45 +01:00
Marco Hauswirth 17242bc1a4 simulation: update sensor_agp_sim for AuxGlobalPosition message 
Update the AGP simulator to publish the new AuxGlobalPosition message
type with the required source ID field.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth 8a9be9a8f0 ekf2: update logger, mavlink, DDS, and replay for AuxGlobalPosition 
Update integrations to use the new AuxGlobalPosition message instead
of the VehicleGlobalPosition-based aux_global_position topic.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth b346fcfa00 ekf2: implement multi-instance AGP fusion 
Refactor auxiliary global position fusion to support multiple AGP
sources. Add AgpSourceControl manager class that routes AGP messages
to the correct AgpSource instance based on configured source IDs.
Only instantiate AgpSource slots that have a configured ID on boot.
Move AGP subscriptions to manager class for correct message routing.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth 1d852907a2 ekf2: add multi-instance AGP parameters 
Add per-instance parameters for auxiliary global position sources,
allowing configuration of up to 4 AGP slots with individual source IDs.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth dd177ac8cf uorb: add AuxGlobalPosition message 
Add dedicated AuxGlobalPosition uORB message to replace the previous
approach of reusing VehicleGlobalPosition for auxiliary global position
sources.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth c29630f6ae adjust clang-tidy checks and workflow 2026-02-12 21:20:27 -08:00
Marco Hauswirth c4535683a7 ekf2 unit-tests: adapt to strict GNSS checks on ground 2026-02-09 10:59:58 +01:00
Marco Hauswirth 6e579cb75a improve gnss altitude fusion starting logic 2025-10-03 10:11:41 +02:00
Marco Hauswirth c2c721a2d6 * add gnss-fault flags to estimator-status msg 
* react to comments
 2025-10-03 10:11:41 +02:00
Marco Hauswirth 3712af8b7f * avoid gnss-based altitude reset in DR-mode 
* add hysteresis for re-enabling fusion
* disable lat/lon/vel fusion on gnss_hgt_fault
 2025-10-03 10:11:41 +02:00
Marco Hauswirth 073013cf85 reset terrain w flow based on current horizontal velocity 2025-08-28 13:58:29 +02:00
Marco Hauswirth adc299d019 remove paths-ignore in workflows to enable CI-checks for pure CI changes... 2025-06-25 08:04:43 -07:00
Marco Hauswirth f0fdf0b53b EKF2: distinguish airspeed source and use synthetic for wind 
Enable wind-dead-reckoning with airspeed source to synthetic airspeed
 2025-05-02 13:37:18 +02:00
Marco Hauswirth 5842c991ec AirspeedSelector: add synthetic airspeed option 
Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
 2025-05-02 13:37:18 +02:00
Marco Hauswirth c3c863ad95 AirspeedSelector: clean up in preparation of synthetic airspeed 2025-05-02 13:37:18 +02:00
Marco Hauswirth 283a69dedf enable terrain_hold when not moving vertically 2025-03-24 09:08:18 +01:00
Marco Hauswirth c6c0f2228b clean up 2025-03-12 08:52:39 +01:00
Marco Hauswirth 6112d59e58 do relative calibration of baros with 1s delay 2025-03-12 08:52:39 +01:00
Marco Hauswirth 1f5a9e526c dont change mode_change-flag if mode was not allowed to change 2025-02-28 14:23:58 +01:00
Marco Hauswirth 84134e5123 clean up variable declaration 2025-02-26 13:48:59 +01:00
Marco Hauswirth 61d595dc64 reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement 2025-02-14 17:10:14 +01:00
Marco Hauswirth bdc6957c11 dont use BROACAST_MODE_ON during unit testing 2024-12-19 07:44:45 +01:00
Marco Hauswirth db0160bf7c fix sih hitl plane airframe 2024-11-29 14:21:29 +01:00
Marco Hauswirthandbresch 5d7b734bc9 SIH: ellipsoidal earth model 
SIH: use projection functions and constants from geo lib

SIH: remove unnecessary member variable

SIH: clarify names of rotation matrices and frames

SIH: do not store DCM corresponding to quaternion attitude

Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.

SIH: don't store local variable as member

SIH: use Wgs84 constants everywhere

SIH: do not store delta_quaternion

Converting an AxisAngle to a Quaternion uses the exponenial

SIH: organise ECEF member variables

SIH: add earth spin rate to gyro data

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-11-29 14:21:29 +01:00
Marco Hauswirth 8afd267509 move more ekf function implementations to cpp 2024-09-23 12:18:41 -04:00
Marco Hauswirth e3f138862a move implementation of updateAidSrcStatus to cpp file, saves flash 2024-09-23 12:18:41 -04:00
Marco Hauswirth 4a99a51fb1 update upload-artifact v2->v4 2024-09-17 10:55:00 -07:00
Marco Hauswirth 22c2878cf8 send acknowledgement after receiving vehicle wind cmd 2024-09-12 09:34:08 +02:00
Marco Hauswirth 9d9d8aeb4c bugfix: wrong reset_counter used 2024-07-26 18:01:44 +02:00
Marco Hauswirth 5808dac4bc reset position-mode line following after position reset 2024-07-26 18:01:44 +02:00