Daniel Agar
fc17797548
ekf2: delete obsolete _bad_vert_accel_detected
2021-12-13 09:13:39 -05:00
bresch
66290de745
ekf: improve range primary height source
...
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
bresch
9147d5ea5c
ekf2: use ground as ekf altitude datum when in range primary hgt mode
2021-12-10 15:18:10 +01:00
bresch
5e790da634
ekf2: reset the timeout timer in the reset function directly
2021-12-10 15:18:10 +01:00
bresch
0d874cf00a
ekf2: move aiding start details in dedicated function
...
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
Matthias Grob
68e2940f58
math: support max of three values additional to min and use it everywhere
2021-12-07 21:06:51 +01:00
bresch
c947562183
ekf: get rid of intermediate variable "fuse_height"
2021-12-07 09:16:21 +01:00
bresch
9651f78b0a
ekf: centralize the height fusion decision
2021-12-07 09:16:21 +01:00
bresch
d583ef6b79
ekf2: move height fusion code to separate source file
2021-12-07 09:16:21 +01:00
Matthias Grob
10ceea2fe6
geo: refactoring on comments and usage
2021-12-06 14:30:14 +01:00
Thomas Debrunner
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
Daniel Agar
bffd88ad81
ekf2: don't inhibit accel bias when not in air
2021-11-18 13:58:53 -05:00
bresch
394fa953b8
EKF: get status on yaw alignement in flight
...
1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
2021-11-16 18:09:37 -05:00
bresch
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
bresch
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
bresch
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
bresch
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
bresch
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
bresch
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
bresch
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
bresch
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
...
Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
mcsauder
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
Daniel Agar
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
Daniel Agar
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
Mathieu Bresciani
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
Daniel Agar
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
Paul Riseborough
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
Daniel Agar
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
...
- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
bresch
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
bresch
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
bresch
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
...
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
2021-08-05 11:10:02 +02:00
bresch
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
bresch
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
Daniel Agar
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
bresch
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
Mathieu Bresciani and Daniel Agar
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
bresch
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
mcsauder
f34862f143
Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.
2021-07-17 12:24:56 -04:00
Daniel Agar
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
Daniel Agar