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914 Commits

Author SHA1 Message Date
bresch 6e30f8f5cb ekf2: use dedicated aid_src message for flow for terrain aiding 2023-01-21 15:31:19 -05:00
bresch b4b48cae75 ekf2: terrain flow - migrate to Symforce 2023-01-21 15:31:19 -05:00
Daniel Agar 95300d5637 ekf2: refactor output predictor to class 
- refactor all EKF backend output predictor pieces into new OutputPredictor class
 - output states are now calculated immediately with new high rate IMU rather than after EKF update
 - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
 2023-01-18 10:59:34 -05:00
Daniel Agar 71d916dbcd ekf2: PreFlightChecker fix vel_ne_innov_lpf index 2023-01-17 13:03:38 -05:00
Alex Klimaj 00bfd5436a ekf2: increase optical flow preflight check innovation limit (#20940) 2023-01-15 17:52:12 -05:00
Daniel Agar 674a59e48f ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM 
- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
 2023-01-14 09:15:46 -05:00
Daniel Agar 0f9bc351f1 ekf2: fix global_pos alt_reset_counter publish (#20906) 
- fixes #20900
 2023-01-11 14:15:07 -05:00
bresch 49f8bcfc69 ekf2: purge old ekf2 derivation 2023-01-06 18:35:19 -05:00
bresch 26122886ae ekf2: drag fusion - improve parameter description 
The user should refer to the online documentation for tuning guidelines
and not the parameter description.
 2023-01-05 12:03:24 -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
Paul Riseborough 1a9c358858 ekf2: Add unit tests for drag fusion 2023-01-05 12:03:24 -05:00
bresch 0509f612dd ekf2: fix drag data downsampling 
setDragData needs the imu data at full speed to downsample it without
skipping samples.
 2023-01-05 12:03:24 -05:00
bresch 28d664aed5 EKF2: purge outdated matlab scripts 
Those files are no longer maintained and will just confuse new users
 2022-12-30 13:01:58 -05:00
dagar 618ce9a865 [AUTO COMMIT] update change indication 2022-12-29 16:37:34 -05:00
Daniel Agar 20a1c73cf0 ekf2: reinit baro height on sensor or calibration change 
- handle reset on delayed time horizon
 2022-12-29 16:37:34 -05:00
bresch 3e4e5c991c ekf2: add mag unit tests 2022-12-29 12:56:36 -05:00
bresch 657bd6cf72 ekf2: stop mag fusion when inhibited for too long 
Also do not try to run anything if mag is inhibited
 2022-12-29 12:56:36 -05:00
bresch c75a9058a5 EKF2: only fuse zero innovation if yaw var is large 2022-12-29 12:56:36 -05:00
bresch 86a3d2459a ekf2: remove old yaw estimator generated code 2022-12-23 10:28:19 -05:00
bresch 0388c161e7 ekf2: compare yaw estimator sympy vs symforce 2022-12-23 10:28:19 -05:00
bresch 7c33019510 EKF2: move yaw estimator to symforce 2022-12-23 10:28:19 -05:00
Daniel Agar 54a32eb2f7 ekf2: EV overhaul yaw and position fusion (#20501) 
- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
 2022-12-20 10:23:56 -05:00
Daniel Agar 696eeb9a49 ekf2: update EV height state machine (small piece of EV overhaul) 
- respect new EKF2_EV_CTRL parameter for VPOS usage
  - EV hgt rotate EV position before usage (there's often a small offset in frames)
  - EV hgt reset use proper EV velocity body frame
  - try to keep EV hgt and EV vel state machines consistent
  - small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
 2022-12-13 13:29:18 -05:00
Daniel Agar 805ffa9d0b ekf2: push mag cal reset to delayed time horizon 2022-12-13 10:24:02 -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 8cf13d50a8 ekf2: EKFGSF_yaw minor cleanup (#20510) 
- don't store unnecessary IMU copy in class, pass it through where required
 - remove custom pi constants
 - remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
 - explicitly initialize everything in header
 - apply PX4 code style
 - set GPS velocity before yaw estimator update, not after
 2022-12-09 13:24:00 -05:00
Daniel Agar f3884d5835 Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-09 11:40:30 -05:00
Daniel Agar 8eb2a0a3ec ekf2: delete orientation_covariances_euler() 
- usage replaced with now public calcRotVecVariances()
 2022-12-07 12:41:27 -05:00
Mathieu Bresciani a187bb3b80 ekf2: predict covariance before predicting state (#20715) 
* To predict the covariance, the jacobian from the previous to the current state is required.
 2022-12-07 09:34:19 -05:00
bresch 5155346d60 ekf2: do not use gnss data when no lock 2022-11-30 08:50:34 -05:00
bresch 5d7faefa84 ekf2: don't add invalid GNSS samples to the buffer 2022-11-30 00:22:15 -05:00
bresch 60c448ce3a ekf2: GNSS yaw, use reported yaw accuracy when available 2022-11-22 09:59:31 -05:00
bresch b25bc1b982 ekf2: GNSS yaw, update->fuse pattern 2022-11-22 09:59:31 -05:00
bresch 4cb327fba3 ekf2: remove old GPS yaw autogenerated code 2022-11-22 09:59:31 -05:00
bresch 16a3fee54f ekf2_test: check behavior of GNSS yaw fusion at singularities 2022-11-22 09:59:31 -05:00
bresch 4116de31ad ekf2: compare GNSS yaw fusion sympy vs symforce 2022-11-22 09:59:31 -05:00
bresch eff2c6adcf ekf2: migrate GNSS yaw fusion to SymForce 2022-11-22 09:59:31 -05:00
Daniel Agar da82757bf6 ekf2: accumulate multiple vel/pos/orientation reset deltas per update 
- if in a single EKF update there are multiple resets we need to track the accumulated delta so the change consumed by the controllers is correct
 2022-11-15 13:20:54 -05:00
bresch 22420a7bf1 ekf2: do not fuse ZVU if other velocity source is active 2022-11-15 11:17:07 -05:00
bresch c67f03f383 ekf2: update change indicator 2022-11-14 11:51:32 -05:00
bresch f319cc528b ekf2: remove old flow fusion generated code 2022-11-14 11:51:32 -05:00
bresch 2a83dbf81d ekf2_test: compare flow fusion sympy vs symforce 2022-11-14 11:51:32 -05:00
bresch 93564baccf ekf2_flow: recalculate innovation after fusing 1st axis 
The state changed so we need to recalculate the innovation of the 2nd
axis after fusing the 1st one
 2022-11-14 11:51:32 -05:00
bresch 4dbdf23346 ekf2: update _R_to_earth when the state quat changed through fusion 2022-11-14 11:51:32 -05:00
bresch 28458340e6 ekf2_flow: check innov variance health after fusing 1st axis 2022-11-14 11:51:32 -05:00
bresch 73a8c388e8 ekf2: fuse by looping through axes 2022-11-14 11:51:32 -05:00
bresch b54a4417fa ekf2: migrate flow fusion to SymForce 2022-11-14 11:51:32 -05:00
Daniel Agar 639d1ddca2 ekf2: update flags (in_air, at_rest, etc) on delayed time horizon (#20576) 
- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-11-14 11:35:40 -05:00