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
b6da0b141d
ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure
2024-04-29 21:04:21 -04:00
bresch
9dc7719d4a
ekf2: Only reset to GNSS heading if necessary
...
When North-East (e.g.: GNSS pos/vel) aiding is active, the heading
estimate is constrained and consistent with the vel/pos aiding. Reset to
GNSS heading should only occur if no N-E aiding is active or if the
filter is not yes aligned. Otherwise, just wait for the consistency
check to pass again (will pass at some point if the heading uncertainty
of the filter is getting too high).
2024-04-29 07:22:01 -07:00
bresch
4cf51e5833
baro comp: set hpf optional
2024-04-22 15:59:50 +02:00
Daniel Agar
ec3ceae45e
ekf2: move yaw_estimator and derivation to dedicated folder
2024-04-18 15:14:59 -04:00
bresch
a8a67fbf8f
ekf2: set horizon using specific parameter
...
Some sensors can have their delay included in the timestamp. In this
case, the buffer cannot be sized using the _DELAY parameter.
2024-04-17 09:16:16 -04:00
bresch
b79d3854e4
ekf2: remove option to continuously fuse mag declination
...
Declination fusion is only used when not observable (no global aiding).
2024-04-05 22:26:03 -04:00
bresch
dae246d7e2
ekf2: do not continuously use mag decl fusion when GNSS fusion is active
...
This prevents over-constraining the heading from mag fusion. An
incorrect mag yaw rotation can be absorbed as a declination error.
2024-04-05 22:26:03 -04:00
bresch
2f51db7284
ekf2: limit mag heading fusion to prevent heading overconfidence
2024-04-05 22:26:03 -04:00
bresch
51883fe5d4
ekf2: integrate mag heading into mag 3D
2024-04-05 22:26:03 -04:00
bresch
0c9e4013d2
ekf2: improve tilt leveling speed
...
Starting with no yaw uncertainty makes the tilt more observable when
using fake position fusion during the quasi-stationary alignment phase.
2024-04-05 22:26:03 -04:00
bresch
12fefbcfbd
ekf2: use global definition of quaternion error
2024-04-05 22:26:03 -04:00
murata,katsutoshi
749f88b62b
ekf2: gps control lazily check yaw_failure() only after in_air
2024-03-26 19:50:57 -04:00
bresch
6d819343aa
ekf2: fix direct state measurement update for suboptimal K case
...
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
2024-03-20 14:13:49 +01:00
muramura
32aa3263a6
EKF: Change a typo
2024-03-18 10:29:44 +01:00
bresch
7c6ecd95a8
mc_wind_estimator_tuning: optionally use GNSS velocity
...
Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
bresch
b2f1122372
ekf2: remove old yaw 321 and 312 derivations
2024-03-14 11:33:45 -04:00
bresch
e3f67d5c1a
ekf2: new yaw derivation
...
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
2024-03-14 11:33:45 -04:00
bresch
0639f5370c
ekf2: fix mag and wind covariance prediction
2024-03-07 11:06:31 -05:00
bresch
421f13e4b5
ekf2: fix joseph covariance update for Schmidt-Kalman filter
...
If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
2024-03-07 15:11:47 +01:00
bresch
6f9a378247
yaw_est: force set gyro bias when at rest
...
The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
2024-03-05 14:00:06 -05:00
bresch
b80f15f7b5
ekf2-mag_auto: always use mag 3D after takeoff
2024-02-27 12:33:43 -05:00
bresch
051baec9c4
ekf2: allow wind dead-reckoning after manual position reset
...
Reset velocity using airspeed and start navigating
2024-02-27 09:34:05 -05:00
Daniel Agar
8001132d33
ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement
2024-02-26 12:32:59 -05:00
bresch
d501d8e1d4
ekf2: use Joseph stabilized update in direct state observations
2024-02-26 12:32:59 -05:00
bresch
9d9766c6cf
ekf2: use Joseph stabilized covariance update
2024-02-26 12:32:59 -05:00
Daniel Agar