56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
...
Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
c39a21aa54
ekf2: selector remove special timeout condition
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- this mainly produces false positives when disarmed and bench testing
2021-09-29 09:59:08 -04:00
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
2b1c97eb37
Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021
2021-08-22 16:28:00 -04:00
06c2d14903
ekf2: multi-mode allow first instance to save EKF2_MAG_DECL
2021-08-19 10:14:35 +02:00
e8c418caaf
EKF:Use inttypes
2021-08-13 14:22:00 -04:00
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
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- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
44219e9f45
EKF: add GNSS yaw to emergency yaw fallback test
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
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
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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
3fe04a91f6
GNSS yaw: add observation jump on ground
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Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
2021-08-05 11:10:02 +02:00
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
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- 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
9c36236565
ekf2: increase stack size to 3600
2021-08-02 09:47:38 -04:00
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
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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
639e0a39cf
EKF2: add yaw estimator alignment test
2021-07-27 13:34:53 +02:00
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
a8e3c46cdb
[AUTO COMMIT] update change indication
2021-07-19 16:53:45 -04:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
10f4fc7783
ekf2: don't print distance_sensor selection unless there are multiple options
2021-07-19 12:17:12 -04:00
0101934f47
ekf2: multi-EKF instance message INFO -> DEBUG
2021-07-18 18:02:33 -04:00
9ac860ac33
ekf2: test fix double promotion warnings
2021-07-18 15:49:53 -04:00
9087ba2259
world_magnietc_model: update to latest and fix code style
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- minimize test_geo_lookup.cpp optimization to improve compile times
2021-07-18 15:49:53 -04:00
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
eeb73fdbe6
ekf2: resetting IMU bias message INFO -> DEBUG
2021-07-17 10:57:09 -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
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
dbaed99626
cmake remove git_ecl target
2021-07-13 10:03:06 -04:00
223ca11aed
ekf2: update drag fusion parameter descriptions
2021-07-08 22:19:52 -04:00
2d6363e0ef
ekf2: Add parameter for propeller momentum drag
2021-07-08 22:19:52 -04:00
982692f5ed
ekf2: selector handle NAN test ratios as uninitilaized
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- requires https://github.com/PX4/PX4-ECL/pull/1020
2021-06-29 21:36:24 -04:00
0dee7af81f
ekf2_params: enable baro ground effect compensation by default
2021-06-22 10:32:54 +02:00
9a423e222b
ekf2:Use inttypes and fix types
2021-06-16 17:07:47 +02:00
b550ad22b9
EKF2: Always publish global position
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For historical reasons, there is a check in EKF2 to only publish global
position if it has moved for 1mm.
This is no longer necessary, and also this if doesn't save any cpu cycles
in real conditions where GPS errors are always much bigger that this.
When using simulated or fake GPS, based on some other positioning
system, the GPS coordinate input can be very accurate due to quantization
or true accuracy. In this case this check bites and perfectly valid position
doesn't get published.
Just removed this if.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-15 10:55:39 +02:00
251f1a069b
ekf2: update message lost error messages to perf counters
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- only allocate these perf counters if data source is present
2021-06-08 20:12:17 -04:00
578c003c13
ekf2: selector handle uninitalized test ratios
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- choose the best instance regardless of tilt or yaw alignment
2021-06-07 08:56:37 -04:00
2ccd86102b
ekf2: add command line option to manually select instance
2021-06-07 08:47:17 -04:00
22838f491a
ekf2: replace mag missed error message with perf count
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- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
2021-05-24 20:52:07 -04:00
f15eefcc95
ekf2: selector increase status rate before potential instance change
2021-05-07 22:38:47 -04:00
29730e30fa
ekf2: don't timeout in HITL mode
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Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
2021-05-07 22:38:03 -04:00
b1ebd16c61
ekf2: improve selector reset handling
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- handle reset count rollover (uint8_t)
- compute full reset delta if primary estimator instance has changed or if we missed a reset
2021-05-05 21:45:13 -04:00
38c1ec6a9c
ekf2: check if ChangeInstance succeeded
2021-04-27 10:29:09 -04:00
Mathieu Bresciani