b19a6ee3b5
ekf2: store position state as lat/lon/alt
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The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
0c451552c7
EKF2: add validity flags to global pos message ( #23787 )
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-10-23 10:19:04 +02:00
ac48b8b51d
ekf2: mag declination fusion always if there is no aiding
2024-08-27 16:16:55 +02:00
bbcf741e9e
ekf2: make mag control responsible for WMM
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- this further untangles mag control (which requires the WMM) from GPS
2024-08-27 16:16:55 +02:00
1cd7d54170
ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-07-15 12:50:51 -04:00
e9d43015ce
ekf2: fix unit tests failing due to mag fusion changes
2024-02-27 12:33:43 -05:00
51155f7a29
ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes ( #22597 )
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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)
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-24 14:14:09 -05:00
408c30de13
ekf2: delete redundant aid src status getters
2023-10-18 15:21:51 -04:00
153f7bbced
ekf2: update all copyright headers
2023-09-15 10:02:09 -04:00
9551c1b614
ekf2: send global position if origin is set manually
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Even if the aiding is local only, a valid global estimate can be sent as
long as we know the EKF's origin.
2023-08-26 14:48:49 -04:00
61f390b0dd
ekf2_test: fix height offset compensation after origin reset
2022-08-04 16:50:31 +02:00
e34de53e2e
ekf2_test: let the GPS start before setting the new origin
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fix test by reducing the distance to the new origin: the maximum size of
the local position origin is a cube of 1e6m. If the origin is moved
further than this, the state is clipped to that maximum value
2022-08-04 16:50:31 +02:00
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest ( #19149 )
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- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
2022-03-12 12:56:31 -05:00
1502d77df2
ekf: refactor fake position control logic
2022-01-25 15:07:48 +01:00
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
bresch