8222cbca2c
ekf2: last range sensor simple timestamp protection
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- sanity check againist potential timestamp issues with incoming
distance_sensor data
2023-05-09 12:02:42 -04:00
f0bea542d5
Update world_magnetic_model to latest ( #21533 )
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* Update world_magnetic_model to latest Mon May 1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication
Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com >
2023-05-01 08:59:55 -04:00
521abecbbf
ekf2: remove all remaining uses of EKF2_AID_MASK
2023-04-28 22:31:17 -04:00
98a8d080b6
ekf2 params: fix my bad english
2023-04-28 22:31:17 -04:00
2a2e43b620
ekf2: move flow fusion activation from AID_MASK to OF_CTRL
2023-04-28 22:31:17 -04:00
39c2f95669
ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL
2023-04-28 22:31:17 -04:00
51f71909d4
Update ekf2_params.c - typo EKF2 aid mask
2023-04-19 17:11:47 -07:00
17806a9608
ekf2: robustify wind init using airspeed
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Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
2023-04-08 14:12:21 +02:00
fb3b4a3151
ekf2: remove duplicate buffer push of system flags
2023-04-04 15:56:09 -04:00
62770c43f9
[AUTO COMMIT] update change indication
2023-03-31 10:15:12 +02:00
ed7c4bc5d7
ekf2: init tilt using quaternion from gravity vector
2023-03-31 10:15:12 +02:00
4d9369dc67
Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023
2023-03-24 09:39:26 -04:00
d532578ecc
EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
98d07ad1f3
disable side slip fusion for tailsitters
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The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
32a5bd32ad
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
2023-03-21 11:25:34 -04:00
0784901a66
ekf2: add kconfig option to enable/disable optical flow fusion
2023-03-21 11:25:34 -04:00
b0189d95af
Use new Vector4 class
2023-03-21 15:01:26 +01:00
08d6465ce5
matrix: add explicit Vector4 type
2023-03-21 15:01:26 +01:00
4363b09421
ekf2: add kconfig option to enable/disable external vision fusion
2023-03-20 10:12:17 -04:00
d47f96f1a5
ekf2: add kconfig option to enable/disable AUX velocity fusion
2023-03-20 10:12:17 -04:00
4270a303ab
ekf2: add kconfig option to enable/disable airspeed and sideslip fusion
2023-03-20 10:12:17 -04:00
98ff1afc19
ekf2: add kconfig option to enable/disable GNSS yaw
2023-03-20 10:12:17 -04:00
8b2205810b
ekf2: add kconfig option to enable/disable baro compensation
2023-03-20 10:12:17 -04:00
fe0e3acf09
ekf2: add kconfig option to enable/disable drag fusion
2023-03-20 10:12:17 -04:00
f0a95f9572
ekf2: add new kconfig option for multi-EKF
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- disabled if flash constrained or memory constrained
2023-03-15 09:32:47 -04:00
19a2b4ec31
ekf2: GNSS yaw only reset test ratio for new samples
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- otherwise external test ratio monitoring could trigger a false positive
2023-03-14 21:49:24 -04:00
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
b3cc945a5a
ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()
2023-03-09 09:08:27 -05:00
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s ( #21264 )
2023-03-09 09:07:54 -05:00
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)
2023-03-08 15:12:48 -05:00
d45aeae1de
ekf2: add and share centralized method to clear inhibited state Kalman gains
2023-03-07 13:27:57 -05:00
b79578fa55
efk2: Force external vision vertical position if EKF2_HGT_REF=VISION
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-06 09:19:49 -05:00
3fac85369e
ekf2: gps control use adjusted velocity and position for reset
2023-03-06 09:03:39 -05:00
b5a6d6db0d
ekf2: fix controlEvYawFusion() yaw reset
2023-02-24 16:59:59 -05:00
98263de17b
ekf2: move aux vel helpers to auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
a199df78cc
ekf2: move mag control helpers to mag_control.cpp
2023-02-22 09:08:33 -05:00
c20e4e4421
ekf2: move stopFlowFusion() to optical_flow_control.cpp
2023-02-22 09:08:33 -05:00
3a317ec18c
ekf2: move gps helpers to gps_control.cpp
2023-02-22 09:08:33 -05:00
9ec3f30ae1
ekf2: move gps buffer pop to controlGpsFusion()
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- controlGpsFusion() now owns yaw estimator update
2023-02-22 09:08:33 -05:00
a867bb7d88
ekf2: let controlAirDataFusion() update yaw estimator TAS
2023-02-22 09:08:33 -05:00
60856ebe62
ekf2: move range buffer pop to controlRangeHeightFusion()
2023-02-22 09:08:33 -05:00
08f111f694
ekf2: consolidate airspeed fusion logic and helpers
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- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
2023-02-22 09:08:33 -05:00
241cee2bb7
ekf2: move airspeed buffer pop to controlAirDataFusion
2023-02-22 09:08:33 -05:00
0711a34d0e
ekf2: move flow buffer pop to controlOpticalFlowFusion
2023-02-22 09:08:33 -05:00
ed8cef6cf0
ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
b4e845d7c0
ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp
2023-02-22 09:08:33 -05:00
c08a387c5a
ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp
2023-02-22 09:08:33 -05:00
d61b8c21b2
ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp
2023-02-22 09:08:33 -05:00
d840f7f39f
ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp
2023-02-22 09:08:33 -05:00
Daniel Agar