2f0c2fa126
ekf2: replace _inhibit_ev_yaw_use with local flag
2022-04-04 10:42:56 -04:00
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
b7e0f17c6a
ekf2: minor position/velocity reset cleanup
...
- try to use avoid resetVelocity() call where possible
- reset timeouts centrally
2022-03-08 11:16:35 -05:00
c10ea97967
ekf2: fusion helpers return success/fail and set pos/vel update timestamps centrally (if healthy)
2022-03-08 11:16:35 -05:00
d6d529539d
ekf2: consolidate and simplify gnd effect logic
2022-02-22 16:59:10 -05:00
1d7791dad6
commander: monitor GPS validity and EKF2 dead reckoning
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- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
2022-02-22 09:46:21 -05:00
edabfd2f0e
ekf_hgt: call specific height reset function instead of generic one
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- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).
- Separate "baro fault" from "baro intermittent": intermittent is a
temporary failure and should prevent from switching to baro right now,
but "fault" means that it should never be used anymore
- In case of height timeout, check for metrics but not for consistency
as the filter is likely to have diverged already.
2022-02-22 11:49:25 +01:00
cba73585e1
use recorded last sensor timestamp for intermittent check
2022-02-22 11:49:25 +01:00
5370733d62
ekf2: publish flow vel only if compensated flow is available
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- fix a few publication timestamp_samples
2022-02-14 10:55:10 -05:00
2fb7b35a8b
ekf2_terr: refactor terrain estimator - flow aiding
2022-02-11 10:57:45 -05:00
3077f27821
ekf: use float instead of Vector2f for innov gate in pos/vel fusion
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We always use the same innovation gate for X and Y anyway
2022-02-02 17:43:25 -05:00
5fb0084524
ekf2: remove unused shared fields for last velocity observation and variance
2022-02-02 17:43:25 -05:00
8a0581516c
ekf2: don't store _auxvel_sample_delayed
2022-02-02 17:43:25 -05:00
452b5e94b4
ekf2: don't store _drag_sample_delayed
2022-02-02 17:43:25 -05:00
999737ddd5
ekf2: refactor mag control
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- remove class _mag_sample_delayed
- update mag fusion call graph to use mag sample delayed functionally
- Ekf::resetMagHeading()
- use low pass mag directly, but check if valid (magnitude)
- MAG_FUSE_TYPE_INDOOR treat like auto if heading required
2022-01-31 11:47:10 -05:00
90358f078f
add odometry reset counter (ekf2, mavlink, etc)
2022-01-31 09:19:36 -05:00
49d9d1c987
ekf2: only set fault status bad_acc_clipping if clipping frequently
2022-01-27 09:59:50 -05:00
ae3070bbf1
ekf2: make filter update period configurable
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- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
2022-01-26 10:57:09 -05:00
2945ce7c87
ekf2: fuse optical flow when magnetometer is disabled
...
Co-authored-by: bresch <brescianimathieu@gmail.com >
2022-01-25 15:42:10 +01:00
1502d77df2
ekf: refactor fake position control logic
2022-01-25 15:07:48 +01:00
a2260e53da
ekf2: replace yaw failure detection criteria
...
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
2022-01-20 11:54:24 +01:00
92a5bbe97f
ekf2: improve ring buffer sizing and dynamically allocate
2022-01-19 09:04:53 -05:00
66290de745
ekf: improve range primary height source
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allow range fusion to start with fake measurements if the sensor is
providing bad measurements because too close to the ground
2021-12-10 15:18:10 +01:00
9147d5ea5c
ekf2: use ground as ekf altitude datum when in range primary hgt mode
2021-12-10 15:18:10 +01:00
5e790da634
ekf2: reset the timeout timer in the reset function directly
2021-12-10 15:18:10 +01:00
0d874cf00a
ekf2: move aiding start details in dedicated function
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When an aiding source needs to be started, simply call the corresponding
starting function and any required reset is handled in there.
2021-12-10 15:18:10 +01:00
c947562183
ekf: get rid of intermediate variable "fuse_height"
2021-12-07 09:16:21 +01:00
9651f78b0a
ekf: centralize the height fusion decision
2021-12-07 09:16:21 +01:00
d583ef6b79
ekf2: move height fusion code to separate source file
2021-12-07 09:16:21 +01:00
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
...
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
Daniel Agar