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Author SHA1 Message Date
bresch
5aaa6c6dde lpos accuracy: bump variance if deadreckon time exceeded 2021-02-08 09:01:51 -05:00
Daniel Agar
46251db4a1 geo: explicitly link libm 2021-02-05 19:00:53 -05:00
Paul Riseborough
b919f3ddf4 EKF: Restore protection from extreme innovation values 2021-01-21 20:55:42 +11:00
Paul Riseborough
efb78deef9 EKF: Set position fusion gate option false by default 2021-01-21 20:55:42 +11:00
Paul Riseborough
556a195320 EKF: Improve handling of non position mode large position innovations 
These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.
 2021-01-21 20:55:42 +11:00
Paul Riseborough
99575d73e1 EKF: Add bad accel bias checking for EV and range finder height use cases 2021-01-09 11:03:31 -05:00
Paul Riseborough
ff3c0a6136 EKF: Fix bug preventing recovery from bad delta velocity bias estimates 2021-01-09 11:03:31 -05:00
priseborough
c25c97f8b5 [AUTO COMMIT] update change indication 2021-01-09 11:03:31 -05:00
Paul Riseborough
96418101e1 test: Allow for larger vel variance growth due to dvel bias variance 2021-01-09 11:03:31 -05:00
Paul Riseborough
1b1c049e81 test: Update unit test to match expected behaviour 2021-01-09 11:03:31 -05:00
Paul Riseborough
dd259a288f EKF: Don't modify accel bias states and variances when inhibited 2021-01-09 11:03:31 -05:00
Paul Riseborough
3e1f2d8674 EKF: Set dvel bias variance to stored value when state is inactive 2021-01-09 11:03:31 -05:00
bresch
c212975abe rng height: reset to baro using common logic 
The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.

Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.

The unit test has been extended to show this behavior.
 2021-01-07 10:07:57 +01:00
Paul Riseborough
03fed323ab EKF: Fix formatting 2021-01-05 21:08:28 +11:00
Paul Riseborough
31fca9c31d EKF: Update GPS loss message 2021-01-05 21:08:28 +11:00
Paul Riseborough
c65cf13bb8 EKF; Treat combined sideslip and airspeed as a horizontal aiding source 2021-01-05 21:08:28 +11:00
bresch
211c84c85b Rng finder unit test: cover "un-stuck" logic 2021-01-05 20:04:17 +11:00
Kamil Ritz
78ce46f007 Removing Matlab derivation 2021-01-02 06:29:11 +11:00
Mathieu Bresciani
18f334f4db
flow: add unit test for yaw motion (#950) 2020-12-25 09:47:14 +01:00
Kamil Ritz
df7f261e03 Add missing const modifier 2020-12-20 14:04:29 +01:00
Daniel Agar
a8e0e82858 EKF: update mag LPF immediately 2020-12-17 10:46:04 +01:00
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
Daniel Agar
1237087d70
AlphaFilter add constructor that takes alpha and use in EKF 2020-12-16 13:55:59 -05:00
Daniel Agar
37e84b763a README: fix zenodo badge (rename ecl -> PX4-ECL) 2020-12-16 10:47:21 -05:00
Mathieu Bresciani
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting (#943) 
* [AUTO COMMIT] update change indication
 2020-12-15 10:09:01 +01:00
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
62f2e26c49 gps_alt: reset GPS alt variance usign helper function 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
Daniel Agar
1541e4b414
EKF: update control status and fault status getters 
- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
 2020-12-10 09:13:12 -05:00
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
kritz
38358002bb
Auto update change indication by github actions 
Co-authored-by: kamilritz <kamilritz@users.noreply.github.com>
 2020-12-08 18:05:28 -05:00
Daniel Agar
688a054bdb EKF: controlDragFusion() add parenthesis for readability 2020-12-08 18:03:04 -05:00
Paul Riseborough
944b18c63e EKF: Remove non useful status print 
Local position is never valid when filter is initialised so there is no use printing the status.
 2020-12-08 18:03:04 -05:00
Paul Riseborough
ee94980a8f EKF: Clean up wind state activation logic 
Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
 2020-12-08 18:03:04 -05:00
Paul Riseborough
44ebfb8c43 EKF: Don't report local position as valid when in a non-position mode 2020-12-08 18:03:04 -05:00
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
PX4 BuildBot
67f13f7ede Update geo_lookup WMM to latest Wed Dec 2 11:48:25 UTC 2020 2020-12-02 19:47:46 -05:00
bresch
da9f314b69 mag: use strength in Gauss 2020-11-10 20:25:09 +11:00
Claudio Micheli
c4d162f9a0
EKF: range_finder parameterize range sensor quality hysteresis time 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-11-04 12:35:39 -05:00
Daniel Agar
6158d6d841
EKF: add const reference getters for status flags 2020-11-02 13:05:08 -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
defb35d8f5 EKF: pass imuSample by const reference 2020-10-30 09:47:22 -04:00
Daniel Agar
d85e24d3ca EKF: Ekf class is final 2020-10-27 08:53:58 -04:00
Daniel Agar
961b545da0 cmake: respect MAX_CUSTOM_OPT_LEVEL if set 
- ignored for Debug and Coverage builds
 2020-10-27 08:53:58 -04:00
Daniel Agar
5ea8824439 EKF: inline simple getters 2020-10-27 08:53:58 -04:00