7 Commits

Author	SHA1	Message	Date
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	5239993c88	ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param	2022-11-08 11:46:41 -05:00
Daniel Agar	38d332a553	ekf2: inhibit accel bias dynamically when fake position/height fusion active ... - 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
Daniel Agar	dfdfbbfa9c	msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) ... - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-08-04 12:55:21 -04:00
Daniel Agar	a430f0ccae	ekf2: add simple zero velocity update when vehicle at rest (#19149) ... - further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates	2022-03-12 12:56:31 -05:00
Daniel Agar	893cdf8f38	ekf2: test external vision adjustments after lowering fake position fusion variance	2022-02-04 21:48:32 -05:00
Daniel Agar	2cf66a5d8f	ekf2: move EKF out of ecl	2021-07-15 10:38:24 -04:00