689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
a2801bab80
[AUTO COMMIT] update change indication
2021-10-26 14:39:58 -04:00
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
3927c183de
ekf2_test: adjust airspeed unit test
...
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required
Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
2021-10-26 10:18:56 +02:00
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
...
Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
0a140ec59a
ekf2_test: add GPS height to baro fallback
2021-10-26 10:05:28 +02:00
f4c21cedd9
ekf2_test: use motion_planning for dynamic yaw emergency test
2021-10-25 18:06:38 -04:00
340a2caa8e
ekf2_test: use motion_planning library
...
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
2021-10-25 18:06:38 -04:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
...
Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
c39a21aa54
ekf2: selector remove special timeout condition
...
- this mainly produces false positives when disarmed and bench testing
2021-09-29 09:59:08 -04:00
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
2b1c97eb37
Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021
2021-08-22 16:28:00 -04:00
06c2d14903
ekf2: multi-mode allow first instance to save EKF2_MAG_DECL
2021-08-19 10:14:35 +02:00
e8c418caaf
EKF:Use inttypes
2021-08-13 14:22:00 -04:00
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
...
- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
44219e9f45
EKF: add GNSS yaw to emergency yaw fallback test
2021-08-05 11:10:02 +02:00
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
...
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
2021-08-05 11:10:02 +02:00
3fe04a91f6
GNSS yaw: add observation jump on ground
...
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
2021-08-05 11:10:02 +02:00
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
9c36236565
ekf2: increase stack size to 3600
2021-08-02 09:47:38 -04:00
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
...
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
639e0a39cf
EKF2: add yaw estimator alignment test
2021-07-27 13:34:53 +02:00
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
a8e3c46cdb
[AUTO COMMIT] update change indication
2021-07-19 16:53:45 -04:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
10f4fc7783
ekf2: don't print distance_sensor selection unless there are multiple options
2021-07-19 12:17:12 -04:00
0101934f47
ekf2: multi-EKF instance message INFO -> DEBUG
2021-07-18 18:02:33 -04:00
9ac860ac33
ekf2: test fix double promotion warnings
2021-07-18 15:49:53 -04:00
9087ba2259
world_magnietc_model: update to latest and fix code style
...
- minimize test_geo_lookup.cpp optimization to improve compile times
2021-07-18 15:49:53 -04:00
f34862f143
Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.
2021-07-17 12:24:56 -04:00
eeb73fdbe6
ekf2: resetting IMU bias message INFO -> DEBUG
2021-07-17 10:57:09 -04:00
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
dbaed99626
cmake remove git_ecl target
2021-07-13 10:03:06 -04:00
bresch