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 and bresch
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* ekf2-test: remove outdated codegen comparison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
bresch
39c2f95669
ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL
2023-04-28 22:31:17 -04:00
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
b4e845d7c0
ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp
2023-02-22 09:08:33 -05:00
bresch
06ef39d05e
ekf2: MC drag fusion - interpolate between X an Y "b" coefficients
...
Use the current sideslip angle to generate a drag coefficient that is a
mixture of X and Y coefficients, creating an elliptic distribution.
2023-01-05 12:03:24 -05:00
bresch
420f5ef2b7
ekf2: migrate drag fusion derivation to SymForce
2023-01-05 12:03:24 -05:00
bresch
04f76c932e
ekf2: decompose drag vector into x-y components
...
The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
2023-01-05 12:03:24 -05:00
bresch
41abf695a8
ekf2: use more efficient covariance update computation
...
KSK' is faster to compute than KHP and is mathematically equivalent
2022-12-12 12:31:54 -05:00
Daniel Agar
5030b21d2e
ekf2: replace quatToInverseRotMat if only used once
2022-10-20 14:15:32 -04:00
Daniel Agar
6fc857772d
ekf2: remove unnecessary const references
2022-04-29 21:39:02 -04:00
Daniel Agar
452b5e94b4
ekf2: don't store _drag_sample_delayed
2022-02-02 17:43:25 -05:00
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
bresch