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Author SHA1 Message Date
Daniel Agar 14a967e2ca ekf2: remove aid src status fusion_enabled flag 2023-09-26 10:30:16 -04:00
Daniel Agar 619616b9f0 vscode add Makefile extension to recommended and devcontainer.json 2023-09-25 12:26:29 -04:00
Daniel Agar aa97ef9d50 EKF: covariance remove extra semicolon 2023-09-25 12:26:12 -04:00
Daniel Agar 61aee73b91 boards: px4_fmu-v5_stackcheck disable common RC to save flash 2023-09-22 11:19:29 -04:00
Daniel Agar 8a9a303354 ekf2: update include guards 2023-09-19 09:37:50 -04:00
Daniel Agar d351f16d04 drivers/optical_flow/paa3905: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Agar efbed3bfc1 sensors/vehicle_optical_flow: don't publish interval lower than configured rate 2023-09-18 12:46:39 -04:00
Daniel Agar 380a42fcbf drivers/optical_flow/paw3902: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Agar 6bd13c5514 boards/cubepilot: cubeorange and cubeorangeplus include VectorNav INS 2023-09-15 16:32:40 -04:00
Daniel Agar b2f258f7a4 drivers/ins/vectornav: add new VN_MODE parameter for full INS support 2023-09-15 16:32:40 -04:00
Daniel Agar 153f7bbced ekf2: update all copyright headers 2023-09-15 10:02:09 -04:00
Daniel Agar 1e9f0ad2c6 ekf2: add kconfig for barometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar f0224c5104 boards: bitcraze crazyflie21 disable ekf2 magnetometer support 2023-09-15 10:02:09 -04:00
Daniel Agar 7589ee00e8 boards: holybro kakutef7 switch to ekf2 2023-09-15 10:02:09 -04:00
Daniel Agar 10b54d08fc ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig 
- new estimator_aid_src_terrain_range_finder for HAGL RNG
 2023-09-15 10:02:09 -04:00
Daniel Agar 845b01a00d ekf2: add kconfig for magnetometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar 36010a9a7c ROMFS: rc.fw_defaults set more conservative range finder requirements 
- for FW the primary range finder usage is estimating the distance to
   the ground (terrain estimate) to guide the landing approach and initiate flare
 - increase EKF2_RNG_QLTY_T default 1->3 seconds
 2023-09-13 12:14:13 -04:00
Daniel Agar 016db84d69 ekf2: covariance update use IMU sample dt (#22032) 
- usually the delta angle and delta velocity dt is the same, but they can be slightly different
 2023-09-13 09:58:56 -04:00
Daniel Agar 7d497d4959 msg: set all ORB_QUEUE_LENGTH to actual rounded value 2023-09-08 15:28:16 -04:00
Daniel Agar 892d507ca7 integrationtests: MAVROS mission_test.py relax yaw estimate STD check for now (#22061) 
- ekf2 heading first initializes to 0 degrees, then immediately resets to mag heading once a few samples are accumulated
 - the yaw standard deviation check could be adjusted to exclude this brief (<1s) initial period
 2023-09-08 15:27:39 -04:00
Daniel Agar 3476831246 dataman: explicitly check file existence to init 
- on NuttX if the SD card was just cleared (quick format) it's possible for the newly created uninitialized dataman file to still have the previous compatibility key, which causes the initialization to be skipped
 2023-09-08 10:16:24 -04:00
Daniel Agar 14ef376721 drivers/uwb/uwb_sr150: don't enable by default 2023-09-08 09:20:01 -04:00
Daniel Agar de9dfb6b74 .vscode: settings.json default ros.distro 2023-09-07 18:57:37 -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 Agar 2c76109a94 ekf2: drag fusion don't use any accel samples that are clipping 2023-08-28 14:35:13 -04:00
Daniel Agarandbresch d75bb62a65 ekf2: separate mag and mag heading control logic (#21212) 
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
 - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
 - if WMM available use for mag_I and mag_B init
 - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
 - mag reset if declination changed (eliminate _mag_yaw_reset_req)
 - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2023-08-04 10:39:16 -04:00
Daniel Agar 95b3005679 lib/world_magnetic_model: add constants for min/max/mean/median field strength 
- add geo_magnetic_tables.hpp comments for blackout zone warnings
 - reduce unnecessary precision in generated tests (should reduce future update noise)
 - update copyright year
 2023-07-28 17:14:25 -04:00
Daniel AgarandMatthias Grob 88e7452492 commander: collapse ArmStateMachine and simplify 
- simplify vehicle_status.arming_state down to just armed and disarmed
    - ARMING_STATE_INIT doesn't matter
    - ARMING_STATE_STANDBY is effectively pre_flight_checks_pass
    - ARMING_STATE_STANDBY_ERROR not needed
    - ARMING_STATE_SHUTDOWN effectively not used (all the poweroff/shutdown calls loop forever in place)
    - ARMING_STATE_IN_AIR_RESTORE doesn't exist anymore
 - collapse ArmStateMachine into commander
     - all requests already go through Commander::arm() and Commander::dismarm()
 - other minor changes
     - VEHICLE_CMD_DO_FLIGHTTERMINATION undocumented (unused?) test command (param1 > 1.5f) removed
     - switching to NAVIGATION_STATE_TERMINATION triggers parachute command centrally (only if armed)

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-07-28 17:12:01 -04:00
Daniel Agarandbresch 84b6b472b4 ekf2: change delta angle and delta velocity bias states to accel and gyro bias (#21901) 
* ekf2-test: remove outdated codegen comparison

The definition of states changed so the comparison with the old
derivation cannot work anymore.

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2023-07-28 09:31:44 -04:00
Daniel Agar 444e5d2d4a boards: px4_fmu-v5_debug readd systemcmds/sd_stress 2023-07-27 14:48:41 -04:00
Daniel AgarandPX4 BuildBot e468798e91 Update world_magnetic_model to latest Thu Jul 27 11:14:06 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-27 10:34:11 -04:00
Daniel AgarandPX4 BuildBot d928a3a8d0 Update submodule GPSDrivers to latest Thu Jul 27 12:39:18 UTC 2023 (#21897) 
- GPSDrivers in PX4/Firmware (9762316d8a0a84b5cb8563ab4c289416421d2801): https://github.com/PX4/PX4-GPSDrivers/commit/261480cb78a3ba60cdda2dcc95b874ebc2c9312c
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b94378bcbbf3339670bda1f97820d6335f6937f5
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/261480cb78a3ba60cdda2dcc95b874ebc2c9312c...b94378bcbbf3339670bda1f97820d6335f6937f5

    b94378b 2023-07-26 Eric Katzfey - Fixing UBlox M10 support

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-27 10:33:22 -04:00
Daniel Agar 82962acd5c sensors/vehicle_magnetometer: add mag calibration PX4_DEBUG output 2023-07-26 12:42:51 -04:00
Daniel Agar d65ddbf810 simulation/sensor_gps_sim: lower GPS velocity variance 
- for a multicopter EKF2 default required GPS speed accuracy is 0.5 m/s
 2023-07-26 12:42:18 -04:00
Daniel Agar 56b59dc155 Revert "jenkins ci: listener topic list update" 
This reverts commit 190371c6ee.
 2023-07-25 18:39:28 -04:00
Daniel Agar 19d6e69b0b ekf2: allow yaw estimator to perform yaw alignment 
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
 2023-07-25 10:58:45 -04:00
Daniel Agar 6d4ec4e623 Jenkinsfile-compile increase timeout 2023-07-25 10:56:45 -04:00
Daniel Agar 1ef9ee7622 ekf2: simplify fuseYaw() signature and use consistently 
- make it safe to call for other aid sources, no EKF state is changed unless fusion_enabled
 2023-07-24 10:34:00 -04:00
Daniel Agarandbresch 01bcc47fb1 ekf2: apply yaw reset to vision attitude error filter 
- set vision attitude error filter uninitialized if vision data stops
 - ev error filter is only compiled when ev config is selected

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2023-07-24 10:32:33 -04:00
Daniel Agar e878d0c0ef Jenkinsfile-compile fix invalid boards 2023-07-24 09:50:54 -04:00
Daniel Agar c8738e3a0d ekf2: mag control cleanup mag reset 2023-07-24 09:52:52 +02:00
Daniel Agar 57b3c26ab0 Tools/simulation/gz: load ApplyLinkWrench plugin by default (#21874) 
- this can be useful for applying arbitrary forces via ignition transport like hand launching a vehicle by throwing it in the air
 2023-07-23 11:05:51 -04:00
Daniel AgarandPX4 BuildBot ec9dce2e89 Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023 
* Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
* [AUTO COMMIT] update change indication


Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-18 14:29:08 -04:00
Daniel Agar b4687c27fe Jenkinsfile-compile board updates 2023-07-18 13:53:32 -04:00
Daniel Agar 45968c614e airspeed_selector: fix aspd typos 2023-07-17 20:37:46 -04:00
Daniel Agar c0a56ce268 airspeed_selector: fix groundspeed typos 2023-07-17 20:37:46 -04:00
Daniel Agar d9ae2ed7ac ekf2: regenerate yaw estimator symforce 
- remove underscore uppercase variable naming that can be problematic
 2023-06-19 21:00:25 -04:00
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now 
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
 2023-05-19 18:35:57 -06:00
Daniel Agar bcf87b4b35 Tools/HIL/test_airframes.sh remove gps stop (not present everywhere) 2023-05-19 10:35:26 -04:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Daniel AgarandPX4BuildBot f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
Daniel Agar b8b80e409f boards: px4_fmu-v5x_test remove drivers/telemetry to save flash 2023-04-27 20:14:26 +02:00
Daniel Agar 5b0b46ff55 boards: px4_fmu-v5x_default disable LPE and ATTQ to save flash 2023-04-27 20:14:26 +02:00
Daniel Agar a11cced4b2 drivers/ins/vectornav: fix attitude (quaternion) and GPS packet extract 2023-04-17 11:18:00 -04:00
Daniel Agar 1234aae3df gimbal: output RC fix actuator_controls_2 -> gimbal_controls regression (#21460) 
- small typo introduced in https://github.com/PX4/PX4-Autopilot/pull/20837
 2023-04-11 22:03:42 +02:00
Daniel Agar 0fa0e2f583 drivers/ins/vectornav: comment out redefined and remove -Wno-error 2023-04-06 14:06:57 -04:00
Daniel Agar cbc067f235 boards: include INS drivers by default on PX4 FMU (eg VectorNav VN-100, VN-200, VN-300) 2023-04-06 14:06:57 -04:00
Daniel Agar 13487c654d ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410) 2023-04-01 20:41:33 +02:00
Daniel Agar 4d9369dc67 Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
Daniel Agar cc2b367c0b drivers/uavcannode: fix typo (hydrometer->hygrometer) 2023-03-23 22:06:55 -04:00
Daniel Agar 32a5bd32ad ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator) 2023-03-21 11:25:34 -04:00
Daniel Agar 0784901a66 ekf2: add kconfig option to enable/disable optical flow fusion 2023-03-21 11:25:34 -04:00
Daniel Agar 1524bd39b5 .gitignore: ignore generate top level log/ folder (colcon) 2023-03-20 11:06:12 -04:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 6ec2b902cc ROMFS: only copy bootloader binary if systemcmds/bl_update included 2023-03-16 09:43:56 -04:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Daniel Agar 19a2b4ec31 ekf2: GNSS yaw only reset test ratio for new samples 
- otherwise external test ratio monitoring could trigger a false positive
 2023-03-14 21:49:24 -04:00
Daniel AgarandMatthias Grob 9be8f81d75 flight_mode_manager: StickAccelerationXY protect from NAN velocity reset 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-03-10 08:17:20 -05:00
Daniel Agar 435c799f57 uORB: print more decimal places for float32 and float64 2023-03-10 07:39:34 +01:00
Daniel Agar b3cc945a5a ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset() 2023-03-09 09:08:27 -05:00
Daniel Agar c1f244a6fd ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) 2023-03-09 09:07:54 -05:00
Daniel Agar 60b85c2e1a mavlink: add kconfig option to disable UAVCAN parameter bridge 
- depends on DRIVERS_UAVCAN
 2023-03-08 19:30:06 -05:00
Daniel Agar 4dda5a97d8 ekf2: mag_3d check mag bias variance before allowed to update all states (orientation) 2023-03-08 15:12:48 -05:00
Daniel Agar d45aeae1de ekf2: add and share centralized method to clear inhibited state Kalman gains 2023-03-07 13:27:57 -05:00
Daniel Agar 3fac85369e ekf2: gps control use adjusted velocity and position for reset 2023-03-06 09:03:39 -05:00
Daniel Agar 74130d7f71 ucdr msg template add timestamp protections 
- if timestamp (or timestamp_sample) unpopulated fill it with current hrt_absolute_time()
 - if using provided timestamp don't allow it to exceed current hrt_absolute_time()
 2023-03-02 09:52:53 -05:00
Daniel Agar bde194fb12 simulation/gz_bridge: local_position_groundtruth include heading (#21224) 2023-03-01 18:44:31 +01:00
Daniel Agar b5a6d6db0d ekf2: fix controlEvYawFusion() yaw reset 2023-02-24 16:59:59 -05:00
Daniel Agar a06a635da3 drivers/inv/vectornav: fix official vectornav library NuttX support 
- vectornav library (libvnc) fixed for NuttX
   - open serial port O_NONBLOCK (like __APPLE__)
   - set serial port baud rate with cfsetspeed (like __APPLE__)
 - vectornav backend thread increase stack and run at higher priority (SCHED_FIFO)
 2023-02-24 16:59:38 -05:00
Daniel Agar 98263de17b ekf2: move aux vel helpers to auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar a199df78cc ekf2: move mag control helpers to mag_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c20e4e4421 ekf2: move stopFlowFusion() to optical_flow_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 3a317ec18c ekf2: move gps helpers to gps_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 9ec3f30ae1 ekf2: move gps buffer pop to controlGpsFusion() 
- controlGpsFusion() now owns yaw estimator update
 2023-02-22 09:08:33 -05:00
Daniel Agar a867bb7d88 ekf2: let controlAirDataFusion() update yaw estimator TAS 2023-02-22 09:08:33 -05:00
Daniel Agar 60856ebe62 ekf2: move range buffer pop to controlRangeHeightFusion() 2023-02-22 09:08:33 -05:00
Daniel Agar 08f111f694 ekf2: consolidate airspeed fusion logic and helpers 
- pass new airspeed sample around when available
 - can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
 2023-02-22 09:08:33 -05:00
Daniel Agar 241cee2bb7 ekf2: move airspeed buffer pop to controlAirDataFusion 2023-02-22 09:08:33 -05:00
Daniel Agar 0711a34d0e ekf2: move flow buffer pop to controlOpticalFlowFusion 2023-02-22 09:08:33 -05:00
Daniel Agar ed8cef6cf0 ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar b4e845d7c0 ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c08a387c5a ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d61b8c21b2 ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar d840f7f39f ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp 2023-02-22 09:08:33 -05:00