Daniel Agar
cff7a01d5e
ekf2: estimator_status log reset counts
2021-02-17 21:16:34 -05:00
Antonio Sanjurjo Cortés
fa45eacea3
Fix and unify the maximum allowed PDOP references
2021-02-04 10:20:22 +01:00
Daniel Agar
d44e537084
ekf2: update to new ecl to fix fault status getter
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- estimator_status filter_fault_flags was broken because the union within ecl/EKF has exceeded 16 bits
2020-12-10 12:45:41 -05:00
Daniel Agar
c54a0ff0c7
estimator_status: add device ids for accel/baro/gyro/mag
2020-09-04 10:48:26 -04:00
Daniel Agar
20c2fe6d28
estimator messages add explicit timestamp_sample
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- timestamp is uORB publication metadata
- this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-04 10:48:26 -04:00
Daniel Agar
9ccc1db649
estimator_status split out estimator_states
2020-09-04 10:48:26 -04:00
kamilritz
b73c80428e
ECL: Clean velPos logging, deprecate ekf2_innovations msg
2019-12-05 11:29:29 +01:00
bresch
09c8c8f706
ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver
2019-11-27 10:33:27 +01:00
bresch
12177cb33b
commander: add pre-flight check and parameter for magnetic field strength
2019-11-25 21:15:55 +01:00
Mathieu Bresciani
549fb0d5de
ekf2_main - Add optical flow innovation pre-flight check ( #13036 )
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* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
2019-10-22 16:22:42 +02:00
CarlOlsson
fd4caa849d
msg: add gps_yaw and mag_aligned to estimator_status
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2019-02-05 19:31:30 -05:00
TSC21
e932030d88
add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-09 13:40:48 +02:00
Daniel Agar
d04aef65d0
estimator_status reduce size of n_states
2018-08-03 17:42:48 -04:00
Daniel Agar
2bf90574ed
estimator_status separate LPE only flags and comment
2018-08-03 17:42:48 -04:00
Daniel Agar
da68ea0d11
estimator_status delete unused nan_flags
2018-08-03 17:42:48 -04:00
Paul Riseborough
e5d428bd65
msg: add definitions for estimator status control mode bit positions
2018-06-09 13:38:04 +02:00
CarlOlsson
84d7eb2900
ekf2: added beta test ratio to estimator_status
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2018-01-02 22:36:42 +01:00
Florian Achermann
87646c4ea4
Update the Description of the estimator_status Message ( #8346 )
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* Fix description of GPS check fail bits in estimator status message
2017-12-11 11:15:34 -05:00
Paul Riseborough
92bcc63418
msg: add pre flight check status message
2017-12-04 09:09:54 +00:00
Beat Küng
20e987faa9
estimator_status: add missing descriptions for control_mode_flags
2017-10-05 10:04:02 +02:00
CarlOlsson
6a9f47b31e
msg: Fix documentation of filter_fault_flag in estimator status msg
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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2017-09-13 05:48:35 -07:00
Beat Küng
6fcd7d9529
estimator_status.msg: fix documentation of innovation_check_flags
2017-06-29 16:06:06 +02:00
ChristophTobler
929ecd0e94
change to uint32 to match updated type from ecl
2017-06-21 09:28:42 +02:00
Paul Riseborough
e2242f87c9
msg: update estimator_status
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Reduce unnecessary length of state and covariance arrays
Add time slip monitor
2017-05-20 10:24:08 +02:00
Paul Riseborough
57de9eccf5
msg: Code review recommendations for estimator_status
2017-05-03 08:37:14 +02:00
Lorenz Meier
9efb1a59f2
msg: Add GPS check fail definitions to estimator_status
2017-05-03 08:37:14 +02:00
Paul Riseborough
79ec263b1e
msg: Change definition for un-used vibration monitoring variable
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Makes the message more useful in comparing the types of vibration likely to cause numerical errors and matches the update ecl library interface.
2016-10-22 12:03:05 +02:00
Paul Riseborough
eb51184bbd
msg: Update estimator_status documentation
2016-10-15 12:00:49 +02:00
Paul Riseborough
fa47569aa5
msg: Add EKF solution status flags to estimator status message
2016-10-11 08:52:35 +02:00
Paul Riseborough
2bda15d72b
msg: Add innovation test data to estimator status
2016-10-11 08:52:35 +02:00
Miguel Arroyo
f999fbe440
Publishes LPE GPS epv and eph as estimator status. ( #5413 )
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* Publishes LPE GPS epv and eph as estimator status.
* Adds timestamp
2016-09-03 22:00:51 +02:00
Daniel Agar
76387b1693
uorb autogeneration
2016-05-14 11:27:07 +02:00
Paul Riseborough
163ad19957
msg: update documentation for estimator status
2016-05-11 14:53:55 +02:00
Paul Riseborough
e8c34fa30e
msg: add filter internal fault message
2016-05-11 14:53:55 +02:00
Paul Riseborough
ba5d608cad
msg: Add control mode data to estimator status
2016-04-20 21:47:29 +02:00
Lorenz Meier
29d417beb7
Messages: Add vibration levels and onboard / offboard sensors
2016-02-25 15:57:37 +01:00
Paul Riseborough
bfd182d12e
msg: Add GPS check status to estimator_status uORB topic
2016-01-31 22:12:11 +01:00
Youssef Demitri
66a637dcc7
added covariances to estimator_status and logging
2015-06-24 15:28:09 +02:00
Lorenz Meier
06ba8d924a
Move estimator_status to generated topics
2015-05-27 15:21:31 -07:00
