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
7c81350c7a
EKF: Don't yaw reset if not yaw induced nav failure
2020-10-06 20:50:52 +11:00
bf0d70fc90
EKF: Protect against collapse of GSF weights
2020-10-06 20:50:52 +11:00
4c2355a638
EKF: use GPS to lookup declination from WMM before full GPS checks pass
2020-09-28 08:43:32 +02:00
6b99ea2a60
ECL standalone build improve ECL_INFO/WARN/DEBUG
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- ECL_{INFO,WARN,DEBUG} add newline
- ECL_{INFO,WARN,DEBUG}_TIMESTAMPED add imu timestamp and newline
2020-09-25 09:33:50 -04:00
5879eaaf78
ekf: fix variable length array error
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Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it.
Using sizeof...(Idxs) fixes the error.
2020-09-25 11:33:29 +02:00
99aafbaa18
README: remove obsolete build status
2020-09-14 12:04:42 -04:00
fab242a81f
python generation add shebang, mark executable, ignore cache
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- commit all current generated files
2020-09-07 09:20:41 +02:00
bresch