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Author SHA1 Message Date
Daniel Agar 0742d356f5 ekf2: more conservative clipping checks for bad_acc_clipping fault status (#23337) 
- track accel clipping count per axis
 - only set bad_acc_clipping fault_status if at least one axis is
   clipping continuously or if all have been clipping at warning level
 - Note: this doesn't impact the clipping projections that boost the
   accel process noise, pause bias estimation, and skip gravity fusion
   on a per sample basis
 2024-06-28 16:45:08 -04:00
Daniel Agar 30b854da35 ekf2: verbose logging control (new EKF2_LOG_VERBOSE) 
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
 - force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
 - logger optionally log all estimator topics at minimal rate
 2024-06-27 01:10:57 -04:00
Daniel Agar 78fd9a15f8 flight_mode_manager: delete unused avoidance waypoint 2024-06-27 01:08:16 -04:00
Daniel Agar 338bcc6ca3 ekf2: disable EKF2_EV_CTRL and EKF2_AGP_CTRL by default 2024-06-26 17:10:28 -04:00
Daniel Agar 30ce560e3a ekf2: mag control reset filtered test ratio on start (if aligning yaw) 2024-06-20 13:41:54 -04:00
Daniel Agar dcb1103299 ekf2: move estimator_status test ratios to filtered values 2024-06-20 13:41:54 -04:00
Daniel Agar 741c7ab610 Update submodule GPS drivers to latest Wed Jun 19 00:38:26 UTC 2024 
- GPS drivers in PX4/Firmware (e5d44cc1ba691f075bc2bce52dea7ec88af9e6cd): https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/0b79ec4dbe3e5ac5925c011067e7e294033a0a32...a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1

    a41210e 2024-06-18 Daniel Agar - sbf: fix code style
 2024-06-18 21:03:27 -04:00
Daniel Agar e33ba810e9 boards: px4_fmu-v5x_test disable differential_drive module to fix flash overflow 2024-06-18 18:48:13 -04:00
Daniel Agar 69a4a11c7f boards: cuav/nora disable modules to fix flash overflow 2024-06-18 18:47:42 -04:00
Daniel AgarandPX4 BuildBot 81f26be846 Update submodule GPS drivers to latest Tue Jun 18 12:39:32 UTC 2024 
- GPS drivers in PX4/Firmware (c29d189788090f6994e488f65789a8fe6b835d8d): https://github.com/PX4/PX4-GPSDrivers/commit/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a...0b79ec4dbe3e5ac5925c011067e7e294033a0a32

0b79ec4 2024-04-12 Thomas Frans - sbf: fix issue with automatic base config in QGC
5810dac 2024-04-12 Thomas Frans - style: add editorconfig file for consistent style
915024c 2024-03-26 Julian Oes - sbf: fix subsequent init in QGC
3ea1d76 2024-03-04 Julian Oes - sbf: don't foget to configure RTCM
c6da592 2024-03-04 Julian Oes - sbf: don't change baudrate of USB port

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-06-18 13:55:02 -04:00
Daniel Agar 8b9900cce3 mc_pos_control: new velocity low pass and notch filter (optional, disabled by default) 
- MPC_VEL_LP: new velocity first order low pass filter (off by default)
 - MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default)
 - MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
 2024-06-18 11:47:19 -04:00
Daniel Agar 206488b844 ekf2: innovation sequence monitoring for all aid sources 
- add new 'innovation_filtered' and 'test_ratio_filtered' fields to
   estimator_aid_source topics
 2024-06-17 15:30:42 -04:00
Daniel Agar f9160853fa rc_update: purge deprecated RC switch parameters 
- these are old RC switch configuration parameters that haven't been used for
   years, but were hardcoded into old versions of QGC
 - RC_MAP_RATT_SW, RC_MAP_POSCTL_SW, RC_MAP_ACRO_SW, RC_MAP_STAB_SW, RC_MAP_MAN_SW deleted

 -
 2024-06-17 12:03:13 -04:00
Daniel Agar c0d6b67633 matrix: Vector2/Vector4 override ops so specific Vector type is returned 
- mirrored from Vector3
 2024-06-14 10:53:27 -04:00
Daniel Agar 783cf9aede vscode: cmake default status bar visibility 
- this is important for setting the active PX4 configuration
 2024-06-14 10:52:19 -04:00
Daniel Agar fb659ae200 ekf2: stopMagFusion() reset yaw_align if mag heading was active 
- we also need to clear mag_aligned_in_flight
 2024-06-06 10:08:20 -04:00
Daniel Agar bfe3c86aeb ekf2: merge mag yaw angle observability into heading consistency 
- the additional hyteresis logic for "yaw angle observable" was
   needed when it controlled time dependent mag_3d
 2024-06-06 10:07:31 -04:00
Daniel Agar 157f7cf40b simplify world_magnetic_model interface (degrees in, degrees out) 
- this hopefully helps avoid accidental mis-use
 - try to clarify units everywhere
 2024-06-04 09:14:36 -04:00
Daniel Agar 5fa3b9d86a lib/world_magnetic_model: fetch_noaa_table.py refactor and scaling improvements 
- upate to NOAA grid API to build WMM table in one pass
 - refactor declination/inclination/totalintensity table printing to
   shared method
 - compute scaling factor to maximize resolution
 2024-06-04 09:14:36 -04:00
Daniel Agar f3d152741c boards: sky-drones_smartap-airlink_default disable gyro_fft module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agar b36f47535e boards: px4_fmu-v6c_default disable gyro_fft module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agar a80c96e575 boards: px4_fmu-v5x_test disable payload_deliverer module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agarandbresch d359f6236e ekf2: symforce zero more efficiently (#23133) 
- increase symforce CppConfig zero_initialization_sparsity_threshold so
   that a Matrix setZero() call is performed instead of individually zeroing

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-05-17 11:20:30 +02:00
Daniel Agar bb5dfc7d51 integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong) 2024-05-17 11:19:04 +02:00
Daniel Agar 5173830718 ekf2: mag fusion don't update all states or tilt by default 
- cleanup some of the legacy mag flags
 2024-05-17 11:19:04 +02:00
Daniel Agar bfc39cf341 ekf2: mag control always populate estimator aid src 2024-05-17 11:19:04 +02:00
Daniel Agar 95ae5a657d ekf2: merge mag_3d_control + mag_control 2024-05-17 11:19:04 +02:00
Daniel Agar 224d6f2fa7 ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition) 2024-05-02 17:40:58 -04:00
Daniel Agar c1fc893cca ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar 63c2ea33c1 ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar 1ca4056b6a ekf2: delete unused Ekf::resetImuBias() 2024-05-02 17:40:58 -04:00
Daniel Agar 6b3b66619b ekf2: move baro dynamic pressure compensation to aid_sources/barometer 2024-05-02 17:40:58 -04:00
Daniel Agar 4f0eb72fc9 ekf2: move IMU down sampler to imu_down_sampler/ 2024-05-02 17:40:58 -04:00
Daniel Agar 58637d3825 ekf2: move terrain estimator and derivation to terrain_estimator/ 2024-05-02 17:40:58 -04:00
Daniel Agar 58de8cbb77 ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/ 2024-05-02 17:40:58 -04:00
Daniel Agar 49c782bad9 ekf2: move bias estimators to bias_estimtor/ 2024-05-02 17:40:58 -04:00
Daniel Agar e262fde4dc ekf2: move aux global position fusion to aid_sources/aux_global_position 2024-05-02 17:40:58 -04:00
Daniel Agar b8d46e60a5 ekf2: move mag fusion to aid_sources/magnetometer 2024-05-02 17:40:58 -04:00
Daniel Agar 3f6c3e0649 ekf2: move output predictor to output_predictor/ 2024-05-02 17:40:58 -04:00
Daniel Agar 24fdd696cb ekf2: move range finder files to aid_sources/range_finder 2024-05-02 17:40:58 -04:00
Daniel Agar 3dbd3f8a1a ekf2: move airspeed fusion file to aid_sources/airspeed 2024-05-02 17:40:58 -04:00
Daniel Agar 789b2b3d8a ekf2: move sideslip fusion file to aid_sources/sideslip 2024-05-02 17:40:58 -04:00
Daniel Agar eb8ee74066 ekf2: move baro height file to aid_sources/barometer 2024-05-02 17:40:58 -04:00
Daniel Agar de178b1435 ekf2: move gravity fusion file to aid_sources/gravity 2024-05-02 17:40:58 -04:00
Daniel Agar 78f2ccbb60 ekf2: move optical flow files to aid_sources/optical_flow 2024-05-02 17:40:58 -04:00
Daniel Agar fcf94e7670 ekf2: move GNSS files to aid_sources/gnss 2024-05-02 17:40:58 -04:00
Daniel Agar 31ae5b77fe ekf2: move drag_fusion file to aid_sources/drag 2024-05-02 17:40:58 -04:00
Daniel Agar c3fb0b1090 ekf2: move auxvel file to aid_sources/auxvel 2024-05-02 17:40:58 -04:00
Daniel Agar b5d1e87368 ekf2: move EV files to aid_sources/external_vision 2024-05-02 17:40:58 -04:00
Daniel Agar c64104e9f1 sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) 
- this warning was to catch any potential errors in sensor selection
   relative to what's actually available, we don't need to complain
   about initial selection before the EKF selector is available
 2024-05-02 11:53:31 -04:00
Daniel Agar 33234f4dc0 drivers/ins/vectornav: add missing sensor_gps velocity magnitude 2024-05-01 20:40:28 -04:00
Daniel Agar b6da0b141d ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure 2024-04-29 21:04:21 -04:00
Daniel Agar eb59bb9de9 simulation/gz_bridge: eliminate implicit float conversion 2024-04-24 15:51:30 -04:00
Daniel Agar bfb04ddd19 CMakeLists: install_python_requirements allow --break-system-packages 2024-04-22 12:11:53 -04:00
Daniel Agar 0a7689f323 drivers/optical_flow/paa3905: fix RegisterRead udelay 2024-04-18 20:57:37 -04:00
Daniel Agar 2a328615ed drivers/optical_flow/paw3902: fix RegisterRead udelay 2024-04-18 20:57:37 -04:00
Daniel Agar ec3ceae45e ekf2: move yaw_estimator and derivation to dedicated folder 2024-04-18 15:14:59 -04:00
Daniel Agar 78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
Daniel Agar c024ea396a boards/px4/fmu-v5x: remove legacy rover_pos_control to reduce flash usage 2024-03-22 15:17:03 -04:00
Daniel Agar 34c19b2e5a boards/px4/fmu-v5x: default remove systemcmds/sd_stress to save flash 2024-03-20 12:35:34 -04:00
Daniel AgarandMathieu Bresciani 35532609c9 mathlib: utilities refactor float to function template (for optional double precision usage) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-03-20 11:10:37 -04:00
Daniel Agar a1cce7e961 uxrce_dds_client: optimizations and instrumentation 
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
 2024-03-12 16:22:26 -04:00
Daniel Agar b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely 
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
 2024-03-12 16:22:26 -04:00
Daniel Agar 1c741836c0 sensors/vehicle_imu: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 8b6c70e0f2 sensors/vehicle_angular_velocity: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 1fc38aab92 sensors/vehicle_air_data: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 2bf1eeb003 sensors/vehicle_acceleration: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 87960c04d8 mag_bias_estimator: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar d96970a2b9 sensor/vehicle_magnetometer: sensor update loop limit iterations 
- place upper bound to prevent looping indefinitely (high publish rate, etc)
 2024-03-06 21:19:38 -05:00
Daniel Agar 8001132d33 ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement 2024-02-26 12:32:59 -05:00
Daniel AgarandMatthias Grob b2b7439060 ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571) 
* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-02-23 15:40:00 +01:00
Daniel Agar 506c60c471 ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL) 2024-02-21 09:45:44 -05:00
Daniel Agar 8243b4f474 ekf2: move vel/pos reset helpers 2024-02-20 13:16:24 -05:00
Daniel Agar 22b957696d ekf2: velocity/position fusion helper minor consistency cleanup 2024-02-20 13:16:24 -05:00
Daniel Agar c338891677 ekf2: split vel_pos_fusion.cpp 2024-02-20 13:16:24 -05:00
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
 2024-02-20 13:16:24 -05:00
Daniel Agar 021dd0d0af ekf2: fix EV height bias predict call 
- needs to be called every iteration
 2024-02-20 11:47:53 -05:00
Daniel Agar 1032dd3470 ekf: fix measurementUpdate comment typo 2024-02-19 09:41:49 +01:00
Daniel Agar 8dc3975456 ekf2: only populate gnss pos aid src status if ref initialized 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
 2024-02-15 13:13:10 -05:00
Daniel Agar b8714f8980 ROMFS: rc.simulator EKF2 setup specific to gazebo classic 2024-02-13 11:14:44 -05:00
Daniel AgarandPX4 BuildBot 5f589bdda3 Update submodule GPSDrivers to latest Mon Feb 12 12:39:19 UTC 2024 
- GPSDrivers in PX4/Firmware (17ff40898c683e1fe96ff9e2d2790594d188f872): https://github.com/PX4/PX4-GPSDrivers/commit/3393191fbb842f8e13a3f296218efec832640112
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/f48cc01d31607baa4963bde090f530b44df3de12
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/3393191fbb842f8e13a3f296218efec832640112...f48cc01d31607baa4963bde090f530b44df3de12

    f48cc01 2024-02-08 Julian Oes - ubx: separate config for jamming monitor
bc72f55 2024-02-08 Julian Oes - sbf: simplify odd define

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-02-12 08:58:21 -05:00
Daniel AgarandPX4 BuildBot 1d70e32551 Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-26 09:08:51 -05:00
Daniel Agar 4e0967889c ekf2: add verbose print status (moved out of DEBUG_BUILD) 2024-01-24 21:49:26 -05:00
Daniel AgarandPX4 BuildBot bc9ea95359 Update submodule GPSDrivers to latest Thu Jan 25 00:39:33 UTC 2024 
- GPSDrivers in PX4/Firmware (12af7ff9904b2fdde39513c56a3e084eb23bcc7a): https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/836b24c10e0ccd0067500f367686acac6d34882d
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/63990d218ec35ea965d634af6a79d3155561b743...836b24c10e0ccd0067500f367686acac6d34882d

    836b24c 2023-12-11 bedaberner - ubx: fixed wrong mapping of ubx-sat-nav used parameter

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-24 21:48:40 -05:00
Daniel Agarandbresch 51155f7a29 ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) 
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.

 - removes conservative accel bias variance limiting
 - force symmetry is skipped after fusion of NED vel/pos (a direct measurement)

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-24 14:14:09 -05:00
Daniel Agar 2c81c9fdea boards: px4/fmu-{v5*,v6*} add dedicated rover board variants (eg px4_fmu-v6x_rover) 2024-01-24 14:06:49 -05:00
Daniel Agar bf7da6430d ekf2: consolidate LPOS & GPOS accuracy methods 2024-01-22 12:34:08 -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 c3ae7b28c0 matrix: adjust printing for if symmetric (lower triangular only) 2024-01-16 10:20:21 -05:00
Daniel Agar 64f28c4c07 ekf2: delete unused gps error norm field 2024-01-12 10:14:32 -05:00
Daniel Agar 8a031677d5 ekf2: verbose debug print status include state variances 2024-01-11 11:53:20 -05:00
Daniel Agar 4cb293020a ekf2: remove sensor sample uORB::Subscription missed perf counters 
- these served their purpose, but are no longer useful
 - still worth keeping the IMU subscription missed perf count to catch any scheduling issues
 2024-01-11 11:52:29 -05:00
Daniel Agar 855bf8f0d2 .gitmodules set gz submodule branch 2024-01-11 11:07:33 -05:00
Daniel Agar 8bcba6128a ekf2: fix resetGlobalPosToExternalObservation whitespace 2024-01-11 10:59:56 -05:00
Daniel Agarandbresch d45c3d3407 ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print 
* ekf2: verbose print status
 * matrix/Matrix improve print output
 * bold diagonal elements, print ring buffer entry size
 * print in scientific notation when >= 10 to respect max size

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-10 09:46:04 -05:00
Daniel Agar 6495f40ee4 delete old top level config files (dot files, CI, etc) 2024-01-04 11:18:56 -05:00
Daniel Agar b0566cd8aa posix: cmake INSTALL make new GZ models/worlds optional for now 
- the entire posix install package needs to be reviewed and tested
 2023-12-18 11:49:53 -05:00
Daniel Agar 4b25fad862 lib/timesync: relax warnings 
- double required max consecutive counts
 - don't continuously complain about round trip time (RTT) unless
   there's been at least one acceptable round trip (latency < 100 ms)
 2023-12-16 16:36:36 -05:00
Daniel Agar 7fa6f4e32f boards: px4/fmu-v6x add dedicated multicopter build 2023-12-16 16:29:52 -05:00
Daniel Agar 808fd67fcb Tools/setup: macos.sh add python-tk for kconfig gui (boardguiconfig) 2023-12-16 16:29:07 -05:00