2d8e183aa3
update EKF derivation auto-generated code
2021-07-13 10:49:32 +02:00
dccd662dfe
EKF python derivation: use unit quaternion constraint
...
This produces a more numerically stable and simpler derivation as it
already contains the unit quaternion constraint
2021-07-13 10:49:32 +02:00
0bebe1a656
Add gyro bias initialization unit test
2021-07-13 10:49:32 +02:00
057a95a954
EKF_init: check for accel bias amplitude
2021-07-13 10:49:32 +02:00
9f2d1f9e27
CI: update container version
2021-07-13 10:29:05 +02:00
ca4932cfc0
EKF: initialize vertical position and velocity variables
...
- otherwise checkVerticalAccelerationHealth() can fail if GPS or EV
aren't available to correctly set vertical velocity fusion time and
innovation ratio
2021-07-06 17:11:16 -04:00
0c15624a0c
EKF: Fix clang-tidy complaint
2021-07-06 15:20:39 +02:00
33bf4e0303
EKF: set uninitialized vel/pos/hgt test ratios to NAN
...
- ensure valid min is numerically larger than 0 (float32)
2021-06-30 09:30:44 -04:00
3beb5bcbe0
EKF: Fix momentum drag density altitude scaling and update comments
2021-06-22 18:50:56 +10:00
97b5ae1e96
EKF: Fix derivation comments for drag fusion
2021-06-22 18:50:56 +10:00
58d376e2be
EKF: prevent /0 and use pre-computed inverses
2021-06-22 18:50:56 +10:00
de8625d255
EKF: fix sign error in bluff body drag fusion
2021-06-22 18:50:56 +10:00
73d1e514d0
EKF: Extend drag fusion to include propeller momnetum drag
2021-06-22 18:50:56 +10:00
91808f7c9e
Update EKF/common.h
...
Set non-zero default value for airspeed threshold to enable it by default
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-06-22 18:30:47 +10:00
9c0a52d52a
delay time: potentially reduce delay time if baro/aux velocity/airspeed is not used
2021-06-22 18:30:47 +10:00
611ace0ed6
EV_yaw: reset ev_to_ekf to identity when yaw is reset to EV
...
Otherwise, the old rotation matrix is used and not updated anymore
because the EKF is fusing EV yaw data.
2021-06-22 10:25:55 +02:00
804c3563fb
heading_fusion: fix yaw gyro bias oscillation on ground
...
When the mag is pulled away before takeoff, the EKF can end up learning
a bad yaw gyro bias. This bad gyro bias makes the estimated heading spin
and even if the bias continues to be learned, it can end up being stuck
in limit cycle due to the innovation changing its sign every time the
heading estimate overshoots the measurement.
To prevent this, the Z gyro bias variance is reset when the mag heading
fusion test ratio fails on ground.
2021-06-22 16:45:26 +10:00
0ef5d7d4c8
test_replay: remove setting read-only parameter
2021-06-16 15:38:17 +02:00
71fc1b8161
airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg
...
This caused bad initialization of the wind estimate on tailsitters
2021-05-23 15:58:50 +10:00
e57af44d71
set parameters that doesn't change with const attribute, for clearification
2021-05-20 18:19:33 +10:00
85f5a935fe
[AUTO COMMIT] update change indication
2021-05-12 08:33:07 +10:00
f7c687e433
GNSS yaw unit test: test fallback to non yaw aiding mode
2021-05-12 08:33:07 +10:00
a4fe2b1e72
yaw_align: let the mag control logic do the alignement and resets
2021-05-12 08:33:07 +10:00
2cc023038b
mag control: select mag mode before doing the reset
2021-05-12 08:33:07 +10:00
fe943cf104
mag reset: force align in MC custom mode (aka. indoor mode)
...
Checking the parameter is enough to decide if we want to force the yaw
alignment or not
2021-05-12 08:33:07 +10:00
cadcc58415
mag reset: do not stop the fusion from inside the reset function
...
The start/stop is already handled in the dedicated mag control logic
The early return is not required as this case is handled just below
2021-05-12 08:33:07 +10:00
6248646bff
EV yaw: move EV yaw reset out of resetMagHeading function
...
Also remove the unnecessary 2nd "manual reset" done in the start function
2021-05-12 08:33:07 +10:00
48722a2a92
control: inhibit EV yaw from restarting when GPS aid wants to start
2021-05-12 08:33:07 +10:00
a685987082
GNSS yaw: unset yaw_align if fusion stops before takeoff
...
We do not want to rely on a potentially badly initialized heading as it
could lead to a flyaway directly after takeoff
Also remove the resetMagHeading() call from the GPS fusion control logic
as this is properly handled in mag_control.
2021-05-12 08:33:07 +10:00
7ee69706e8
GNSS yaw: add test case when measurement jumps
2021-05-12 08:33:07 +10:00
7a11871566
GNSS yaw tests: adjust timing
...
the starting condition needs more than 1 sample to determine if the data
comes regularly
the timeout on "no data" is defined by the fusion reset timeout
parameter (7 seconds)
2021-05-12 08:33:07 +10:00
51197a5d82
GNSS yaw selection logic refactor
2021-05-12 08:33:07 +10:00
29243ac5cb
yaw_reset: reduce minimum vector length to compute yaw error
...
A value of 1m/s was too conservative and the EKF takes too much time to
trigger a yaw reset. The value can be safely reduced because the
threshold is computed using the accuracy of the measurement and estimate
before being limited by this value.
2021-05-06 19:13:54 +10:00
aad48407c2
EKF: increase allowed difference between flow and gyro ODRs
...
In the normal and lowlight mode for the PAW3902/3 sensor, the ODR is 66Hz, while in super lowlight mode it is 50Hz.
The IMU ODR vs flow ODR mismatch threshold was too conservative for the 66Hz ODR, since https://github.com/PX4/PX4-ECL/pull/928 . The EKF would keep waiting for the data to line up and never fuse measurements.
2021-05-03 11:08:16 +02:00
a7b8afe420
Allow rangefinder fusion in vision height mode (Fix for #994 ) ( #999 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-04-30 14:17:39 -04:00
4ac57d3bde
EKF: increase fault flags value size to fit current flag bits (> 16)
2021-04-25 17:05:09 -04:00
5d34d7a24e
Height source vision: Fallback to rangefinder if available ( #994 )
2021-03-31 14:24:38 +02:00
da06f25216
[AUTO COMMIT] update change indication
2021-03-28 21:22:25 -04:00
85fcf9393d
Update geo_lookup WMM to latest Sun Mar 28 11:48:06 UTC 2021
2021-03-28 21:22:25 -04:00
6f2dec726a
gps sacc: apply same minimum for EKF2 and yaw estimator
2021-03-25 09:54:30 +01:00
e3d1ade660
EKF: use flow for vel test ratio if only active source of horizontal aiding
2021-03-23 15:56:22 +01:00
bb950a1550
Expose terrain vpos reset counter
2021-03-18 14:25:07 +01:00
ab69681744
Add parameter for terrain timeout
2021-03-18 14:25:07 +01:00
4df0054873
geo: purge old globallocal_converter
2021-03-15 14:43:53 -04:00
b3c1bd6d40
EKF: Remove un-used code
2021-03-09 21:23:38 +11:00
4bad2a272c
EKF: Use debug prints for NuttX builds
2021-03-05 19:06:59 -05:00
0f47cae1e1
remove ECL_{INFO,WARN,ERN}_TIMESTAMPED macros
...
- we already have mechanisms to print these messages timestamped
2021-03-05 19:06:59 -05:00
c1f1415696
EKF: Add usage warning comment
2021-03-05 19:06:59 -05:00
c2b86cdb20
EKF: Provide external reset of event records
2021-03-05 19:06:59 -05:00
9d51ab079a
EKF: Remove duplicated event recording
2021-03-05 19:06:59 -05:00
bresch