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241cee2bb7a2c004c2558c0d0a095de43249b558
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934 Commits

Author SHA1 Message Date
Daniel Agar 241cee2bb7 ekf2: move airspeed buffer pop to controlAirDataFusion 2023-02-22 09:08:33 -05:00
Daniel Agar 0711a34d0e ekf2: move flow buffer pop to controlOpticalFlowFusion 2023-02-22 09:08:33 -05:00
Daniel Agar ed8cef6cf0 ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar b4e845d7c0 ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c08a387c5a ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d61b8c21b2 ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d840f7f39f ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp 2023-02-22 09:08:33 -05:00
bresch 8ebf47edb1 ekf2: stop mag fusion when there is no data anymore 2023-02-17 08:51:55 -05:00
Daniel Agar 2ea25804a1 ekf2: allow filter init with only IMU (#21041) 
- if mag enabled heading init is now pushed to controlMagFusion()
 2023-02-13 22:07:15 -05:00
Hamish Willee edb6c635d5 EKF2_MAG_TYPE - fix typos (#20808) 2023-02-10 14:39:57 +01:00
Daniel Agar 7b3befded5 ekf2: disable new gravity fusion by default 2023-02-07 13:57:10 -05:00
Daniel Sahu fa6fda6cce ekf2: new gravity observation (#21038) 
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
 2023-02-07 13:28:58 -05:00
Daniel Agar 04d3e549f5 ekf2: resetQuatStateYaw() set _time_last_heading_fuse 2023-02-03 10:03:09 -05:00
Daniel Agar 66ad7fd06c ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc) 
- 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
Daniel Agar 264a99fb77 ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism 
- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
 2023-02-03 09:52:24 -05:00
Daniel Agar f668ea5aa6 ekf2: RingBuffer add reset method 2023-02-03 08:49:44 -05:00
Daniel Agar e3d73cd837 ekf2: mag control reset mag_lpf on first sample 2023-02-02 16:12:09 -05:00
Daniel Agar efe1d43550 ekf2: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Hamish Willee f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
Daniel Agar 8da993c30e Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-28 11:41:03 -05:00
bresch 6e30f8f5cb ekf2: use dedicated aid_src message for flow for terrain aiding 2023-01-21 15:31:19 -05:00
bresch b4b48cae75 ekf2: terrain flow - migrate to Symforce 2023-01-21 15:31:19 -05:00
Daniel Agar 95300d5637 ekf2: refactor output predictor to class 
- 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
Daniel Agar 71d916dbcd ekf2: PreFlightChecker fix vel_ne_innov_lpf index 2023-01-17 13:03:38 -05:00
Alex Klimaj 00bfd5436a ekf2: increase optical flow preflight check innovation limit (#20940) 2023-01-15 17:52:12 -05:00
Daniel Agar 674a59e48f ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM 
- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
 2023-01-14 09:15:46 -05:00
Daniel Agar 0f9bc351f1 ekf2: fix global_pos alt_reset_counter publish (#20906) 
- fixes #20900
 2023-01-11 14:15:07 -05:00
bresch 49f8bcfc69 ekf2: purge old ekf2 derivation 2023-01-06 18:35:19 -05:00
bresch 26122886ae ekf2: drag fusion - improve parameter description 
The user should refer to the online documentation for tuning guidelines
and not the parameter description.
 2023-01-05 12:03:24 -05:00
bresch 06ef39d05e ekf2: MC drag fusion - interpolate between X an Y "b" coefficients 
Use the current sideslip angle to generate a drag coefficient that is a
mixture of X and Y coefficients, creating an elliptic distribution.
 2023-01-05 12:03:24 -05:00
bresch 420f5ef2b7 ekf2: migrate drag fusion derivation to SymForce 2023-01-05 12:03:24 -05:00
bresch 04f76c932e ekf2: decompose drag vector into x-y components 
The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
 2023-01-05 12:03:24 -05:00
Paul Riseborough 1a9c358858 ekf2: Add unit tests for drag fusion 2023-01-05 12:03:24 -05:00
bresch 0509f612dd ekf2: fix drag data downsampling 
setDragData needs the imu data at full speed to downsample it without
skipping samples.
 2023-01-05 12:03:24 -05:00
bresch 28d664aed5 EKF2: purge outdated matlab scripts 
Those files are no longer maintained and will just confuse new users
 2022-12-30 13:01:58 -05:00
dagar 618ce9a865 [AUTO COMMIT] update change indication 2022-12-29 16:37:34 -05:00
Daniel Agar 20a1c73cf0 ekf2: reinit baro height on sensor or calibration change 
- handle reset on delayed time horizon
 2022-12-29 16:37:34 -05:00
bresch 3e4e5c991c ekf2: add mag unit tests 2022-12-29 12:56:36 -05:00
bresch 657bd6cf72 ekf2: stop mag fusion when inhibited for too long 
Also do not try to run anything if mag is inhibited
 2022-12-29 12:56:36 -05:00
bresch c75a9058a5 EKF2: only fuse zero innovation if yaw var is large 2022-12-29 12:56:36 -05:00
bresch 86a3d2459a ekf2: remove old yaw estimator generated code 2022-12-23 10:28:19 -05:00
bresch 0388c161e7 ekf2: compare yaw estimator sympy vs symforce 2022-12-23 10:28:19 -05:00
bresch 7c33019510 EKF2: move yaw estimator to symforce 2022-12-23 10:28:19 -05:00
Daniel Agar 54a32eb2f7 ekf2: EV overhaul yaw and position fusion (#20501) 
- 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
Daniel Agar 696eeb9a49 ekf2: update EV height state machine (small piece of EV overhaul) 
- 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
Daniel Agar 805ffa9d0b ekf2: push mag cal reset to delayed time horizon 2022-12-13 10:24:02 -05:00
bresch 41abf695a8 ekf2: use more efficient covariance update computation 
KSK' is faster to compute than KHP and is mathematically equivalent
 2022-12-12 12:31:54 -05:00
Daniel Agar 8cf13d50a8 ekf2: EKFGSF_yaw minor cleanup (#20510) 
- don't store unnecessary IMU copy in class, pass it through where required
 - remove custom pi constants
 - remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
 - explicitly initialize everything in header
 - apply PX4 code style
 - set GPS velocity before yaw estimator update, not after
 2022-12-09 13:24:00 -05:00
Daniel Agar f3884d5835 Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-09 11:40:30 -05:00
Daniel Agar 8eb2a0a3ec ekf2: delete orientation_covariances_euler() 
- usage replaced with now public calcRotVecVariances()
 2022-12-07 12:41:27 -05:00