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317 Commits

Author SHA1 Message Date
Daniel Agar
0f47cae1e1 remove ECL_{INFO,WARN,ERN}_TIMESTAMPED macros 
- we already have mechanisms to print these messages timestamped
 2021-03-05 19:06:59 -05:00
Paul Riseborough
140ca3f48f EKF: Add external monitoring of warning and information events 2021-03-05 19:06:59 -05:00
Paul Riseborough
90a445ddbc EKF: upgrade some events from into to warning status 2021-03-05 19:06:59 -05:00
Nicolas MARTIN
29943a2c09
EKF test ratio status return current height source test ratio 2021-02-22 09:22:45 -05:00
mcsauder
164e53bad3 Add unit tests and update ekf_helper setEkfGlobalOrigin() method to allow for condition when current position is unitialized. 2021-02-19 08:59:47 -05:00
Daniel Agar
63f64b57c1 EKF: set global origin method 
EKF: add convergence after global origin reset test
 2021-02-19 08:59:47 -05:00
bresch
5aaa6c6dde lpos accuracy: bump variance if deadreckon time exceeded 2021-02-08 09:01:51 -05:00
Daniel Agar
398fe159ce EKF: allow initialising without mag depending on configuration 
- reduce initial number of required mag and baro samples before init
 2020-12-17 19:55:51 +11:00
bresch
9d22f140dd gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc 2020-12-13 14:39:50 +11:00
bresch
b0cf45e2d2 gps_alt: rename getGpsAltVar -> getGpsHeightVariance 2020-12-13 14:39:50 +11:00
bresch
f7bddda3d5 gps_alt: do not scale up reported gps vertical accuracy 
The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
 2020-12-13 14:39:50 +11:00
bresch
02369cd415 gps_alt: extract measurement variance computation and saturation 2020-12-13 14:39:50 +11:00
zhaoxiaowei
fbf67bdef9 reset gps height use vacc 2020-12-10 10:07:59 +01:00
Mathieu Bresciani
8f3df7a97b
flow: restructure optical flow control logic (#928) 
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
 2020-12-09 11:33:00 +01:00
Daniel Agar
da7d41e78a
EKF: add mag bias reset helper and update IMU bias reset to match (#924) 2020-12-08 12:16:59 -05:00
Daniel Agar
03cfcb903e
EKF: RingBuffer minor improvements 
- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
 2020-12-03 20:48:51 -05:00
Daniel Agar
a21092804a EKF: remove virtual getters from estimator_interface 2020-11-02 09:35:47 -05:00
Daniel Agar
48a8992caf
EKF: move small simple getters to header 
- return by const reference where possible
 2020-10-30 09:48:45 -04:00
Daniel Agar
5ea8824439 EKF: inline simple getters 2020-10-27 08:53:58 -04:00
Daniel Agar
6e99ebd928 EKF: add fault status bit for bad vertical accel data 2020-10-26 17:37:15 +01:00
Mathieu Bresciani
dd3ffc4192
Optical flow: compute velociy from corrected flow data for logging (#920) 
This is really useful when debugging optical flow data
 2020-10-26 13:27:52 +01:00
Daniel Agar
4c2355a638 EKF: use GPS to lookup declination from WMM before full GPS checks pass 2020-09-28 08:43:32 +02:00
kamilritz
9797e4d28f updateYawInRotMat with hidden rotation sequence handling 2020-08-27 09:51:56 +10:00
kamilritz
4fb4e0ca01 Clean euler321 and euler312 code and comment 2020-08-27 09:51:56 +10:00
Kamil Ritz
2be738e806 Add helper function to alter heading in rotation matrices 2020-08-27 09:51:56 +10:00
Kamil Ritz
fdc86c247a add functions to compute yaw (321 and 312 sequence) 
from quaternion and rotation matrix
 2020-08-27 09:51:56 +10:00
Kamil Ritz
15afa8ae17 shouldUse321RotationSequence(const Dcmf& R) 2020-08-27 09:51:56 +10:00
Kamil Ritz
4872f2a545 Remove not used code 2020-08-24 19:24:27 +10:00
Paul Riseborough
1e6c6f2d3c EKF: update all output states when aligning output time horizon filter 2020-08-16 10:00:47 +10:00
kamilritz
3bd9415498 Make delayed output stayed not a member variable 2020-08-16 10:00:47 +10:00
kamilritz
310b989c9a refactor start of gps into separate function 2020-08-07 10:02:47 +02:00
kamilritz
15d360f446 saved_mag_ef_cov to Squarematrix2f 2020-08-04 09:57:00 +02:00
kamilritz
7609bc69b2 drag innov member variables to Vector2f 2020-08-04 09:57:00 +02:00
kritz
88c52aba5e
Refactor ev fusion start into helper functions (#872) 2020-07-27 11:42:52 +02:00
kamilritz
b5e1397c0f Add const modifier 
const modifier


Add missing const modifier
 2020-07-16 18:25:06 +02:00
kamilritz
796afd5f98 Rename yaw_use_inhibit -> is_yaw_fusion_inhibited 
Temp
 2020-07-16 18:25:06 +02:00
kamilritz
3d82d822ae Add const modifier 2020-07-16 18:25:06 +02:00
kamilritz
2af2696b63 Revert if-else condition to get rid of unnecessary indentation 2020-07-02 15:55:24 +02:00
kamilritz
fce4958d4f Random cleanup 2020-07-02 15:55:24 +02:00
kritz
9eea44f4ab
Return type of resets (#859) 
* Reset position/velocity return type is void

* Delete not needed comments
 2020-07-02 14:53:59 +02:00
kamilritz
97225fcb74 Use matrix lib inside getState 2020-07-02 09:02:24 +02:00
kamilritz
16a00eae0b Make Kfusion a Vector24f 2020-07-02 09:02:24 +02:00
kamilritz
5356077a32 Make flow_innov/-var a matrix Vector2f 2020-06-26 08:26:26 +02:00
kamilritz
630be60930 Increase matrix library usage 2020-06-26 08:26:26 +02:00
kamilritz
22274b1d30 Add const modifier 2020-06-26 08:26:26 +02:00
kamilritz
b8f937666a Make mag_innov/-var a Matrix::Vector3f 2020-06-26 08:26:26 +02:00
bresch
3c6790f5d5 GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting 
Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
 2020-06-23 08:43:48 +02:00
kamilritz
ff8b5ec69d Extract general functions into utils 2020-06-23 08:18:34 +02:00
RomanBapst
b7d54b5477 gps: fixed filter initialization bug around gps 
- do not gps reference altitude to zero in case gps checks pass before the
filter initialized
- reset the filtered gps position and position derivative filters in case
we are in air or there is movement on the ground

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-08 16:19:38 +02:00
Paul Riseborough
59183f70ba
EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831) 
* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors

* Update EKF/ekf_helper.cpp

* EKF: Fix comment typo

Co-authored-by: Roman Bapst <bapstroman@gmail.com>

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2020-06-02 17:42:54 +10:00