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
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
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
62770c43f9
[AUTO COMMIT] update change indication
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
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
b0189d95af
Use new Vector4 class
2023-03-21 15:01:26 +01:00
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
2ea25804a1
ekf2: allow filter init with only IMU ( #21041 )
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- if mag enabled heading init is now pushed to controlMagFusion()
2023-02-13 22:07:15 -05:00
66ad7fd06c
ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc)
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- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
- reset() more thoroughly reset fields (mainly impacts unit tests)
2023-02-03 10:00:51 -05:00
8da993c30e
Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-01-28 11:41:03 -05:00
95300d5637
ekf2: refactor output predictor to class
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- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
2023-01-18 10:59:34 -05:00
1a9c358858
ekf2: Add unit tests for drag fusion
2023-01-05 12:03:24 -05:00
618ce9a865
[AUTO COMMIT] update change indication
2022-12-29 16:37:34 -05:00
3e4e5c991c
ekf2: add mag unit tests
2022-12-29 12:56:36 -05:00
0388c161e7
ekf2: compare yaw estimator sympy vs symforce
2022-12-23 10:28:19 -05:00
54a32eb2f7
ekf2: EV overhaul yaw and position fusion ( #20501 )
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- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
2022-12-20 10:23:56 -05:00
696eeb9a49
ekf2: update EV height state machine (small piece of EV overhaul)
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- respect new EKF2_EV_CTRL parameter for VPOS usage
- EV hgt rotate EV position before usage (there's often a small offset in frames)
- EV hgt reset use proper EV velocity body frame
- try to keep EV hgt and EV vel state machines consistent
- small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
2022-12-13 13:29:18 -05:00
41abf695a8
ekf2: use more efficient covariance update computation
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KSK' is faster to compute than KHP and is mathematically equivalent
2022-12-12 12:31:54 -05:00
f3884d5835
Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2022-12-09 11:40:30 -05:00
a187bb3b80
ekf2: predict covariance before predicting state ( #20715 )
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* To predict the covariance, the jacobian from the previous to the current state is required.
2022-12-07 09:34:19 -05:00
16a3fee54f
ekf2_test: check behavior of GNSS yaw fusion at singularities
2022-11-22 09:59:31 -05:00
4116de31ad
ekf2: compare GNSS yaw fusion sympy vs symforce
2022-11-22 09:59:31 -05:00
c67f03f383
ekf2: update change indicator
2022-11-14 11:51:32 -05:00
2a83dbf81d
ekf2_test: compare flow fusion sympy vs symforce
2022-11-14 11:51:32 -05:00
bd5bc9d207
ekf2: cleanup terrain estimator init (shouldn't be valid by default)
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- with Ekf::initialiseFilter() resetting _time_last_hagl_fuse the terrain estimate was technically valid regardless of any range or flow data availability and as a result optical flow fusion is able to start and stay active
- only consider terrain estimate valid based on control status flags and recent fusion
2022-11-14 09:29:46 -05:00
5239993c88
ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param
2022-11-08 11:46:41 -05:00
a242a0210e
Update world_magnetic_model to latest Mon 24 Oct 2022 09:29:11 PM EDT
2022-10-25 09:20:01 -04:00
6f861ba889
ekf2: pos/vel reset helpers pass new variance
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- optical flow velocity reset use already computed _flow_vel_ne
2022-10-24 10:59:58 -04:00
f0a0a3e545
ekf2_test: compare mag decl fusion sympy vs symforce
2022-10-20 18:16:25 -04:00
2f3ea88099
ekf2: migrate mag declination to SymForce
2022-10-20 18:16:25 -04:00
f9509b442c
ekf2: height aid source consistency ( #20405 )
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- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
2022-10-19 15:35:07 -04:00
f77d7d9413
[AUTO COMMIT] update change indication
2022-10-19 17:34:31 +02:00
e33215b61c
ekf2_test: compare yaw fusion sympy vs symforce
2022-10-19 17:34:31 +02:00
42f683fa64
ekf2_test: test using positive definite covariance matrix
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A covariance matrix needs to be positive definite
2022-10-19 17:34:31 +02:00
a41b6f416e
ekf2_test: verify heading innov variance in all orientations
2022-10-19 17:34:31 +02:00
f11908a266
ekf2: generate yaw fusion jacobians using symforce
2022-10-19 17:34:31 +02:00
0d2ff6e224
ekf2: test ekf_logger further reduce std::precision to minimize false positives
2022-10-18 14:19:16 -04:00
77a36219c6
ekf2_test: compare 3D mag fusion sympy vs symforce
2022-10-17 16:14:56 -04:00
116bb6049f
ekf2: fusion helper consistency
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- yaw fusion use measurementUpdate()
- fuseVelPosHeight() respect _accel_bias_inhibit (like measurementUpdate())
2022-10-17 10:17:31 -04:00
458e5a6b0e
ekf2: update change indicator
2022-10-14 11:42:23 -04:00
df084d65e3
ekf2_test: compare covariance prediction sympy vs symforce
2022-10-14 11:42:23 -04:00
2de990fd4b
estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt
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- per estimator air source status only keep a single set of flags and
timestamp that applies to the entire source
2022-10-13 11:28:50 -04:00
f7c749c9cd
ekf2_test: compare sideslip fusion of Sympy and SymForce
2022-10-12 09:55:35 -04:00
d0f92bfbd5
ekf2_test: create helper functions for auto-generated code diff
2022-10-12 09:55:35 -04:00
299e6058e3
ekf2_test: test airspeed symforce vs sympy generated code
2022-10-03 10:59:42 -04:00
20b46ad33f
ekf2_test: test validity of local position when not at rest
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At rest, the zero velocity update keeps the local position valid all the
time. Deactivate it to be able to test the validity checks
2022-09-29 14:16:36 -04:00
38d332a553
ekf2: inhibit accel bias dynamically when fake position/height fusion active
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- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
2022-09-22 20:32:20 -04:00
34d8bd7988
update EKF2 change indicator
2022-09-10 12:29:29 -04:00
Daniel Agar