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43,540 Commits 852 Branches 161 Tags
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12 Commits
Author SHA1 Message Date
bresch 9d9766c6cf ekf2: use Joseph stabilized covariance update 2024-02-26 12:32:59 -05:00
bresch 7c7a3c117a ekf2-gravity: nomalize gravity fusion and proper sequential fusion 2024-01-18 20:39:16 -05:00
bresch d624fbba07 ekf2-grav: lower gate to reject real acceleration more effectively 2024-01-18 20:39:16 -05:00
bresch c28972d15e ekf2-grav: only use filtered accel norm to start/stop the fusion 
Using the raw data makes the swith too sensitive to noise
 2024-01-18 20:39:16 -05:00
Daniel Agarandbresch ed0d26de8a ekf2: improve attitude estimation without horizontal aiding 
- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-17 10:27:25 -05:00
Daniel Agar 5352a64042 ekf2: symforce derivation allow optionally disabling mag and wind states 2023-10-10 17:31:11 -04:00
Mathieu BrescianibreschDaniel Agar
 		05fd8c5976 EKF2: centralized auto-generated state (#22183) 
* ekf2_derivation: use single source of state definition

The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition

* ekf2: generated state sample add const reference getter

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-10-06 10:28:21 -04:00
Daniel Agar 14a967e2ca ekf2: remove aid src status fusion_enabled flag 2023-09-26 10:30:16 -04:00
bresch ebf962bf68 ekf2: remove size in name of state vector and matrix types 
Then the state vector size can be changes without having to update the
name
 2023-09-21 08:27:52 -04:00
Daniel Agar 153f7bbced ekf2: update all copyright headers 2023-09-15 10:02:09 -04:00
Daniel Agar 0f260fc26c ekf2: gravity fusion don't use any accel samples that are clipping 2023-08-28 14:35:13 -04:00
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